CN105517664A - Systems and methods for uav docking - Google Patents
Systems and methods for uav docking Download PDFInfo
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- CN105517664A CN105517664A CN201480009809.9A CN201480009809A CN105517664A CN 105517664 A CN105517664 A CN 105517664A CN 201480009809 A CN201480009809 A CN 201480009809A CN 105517664 A CN105517664 A CN 105517664A
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Abstract
Systems and methods are provided for docking an unmanned aerial vehicle (UAV) with a vehicle. The UAV may be able to distinguish a companion vehicle from other vehicles in the area and vice versa. The carrier can identify the UAV from other UAVS in a distance. The UAV may take off and/or land on the vehicle. The UAV may be used to capture images and stream the images live to a display within the vehicle. The vehicle may control the UAV. The UAV may be in communication with the companion vehicle while in flight.
Description
Background technology
Aviation aircraft, such as unmanned vehicle (Unmannedaerialvehicles, UAVs), can be applied to the supervision in military affairs and people's livelihood field, scouting, rescue and prospecting task.Aviation aircraft can carry the load equipment for performing some specific functions.
In some cases, people may want some environmental informations of collecting described vehicle periphery when steering vehicle, these environmental informations people are not easy to watch from vehicle interior and obtain.
Summary of the invention
In some cases, need to provide a kind of delivery vehicle, described delivery vehicle can with aviation aircraft, such as unmanned vehicle, communicate, to gather the environmental information around delivery vehicle.Therefore, needing to provide a kind of unmanned vehicle docking system, docking with delivery vehicle for allowing unmanned vehicle.System provided by the invention, method and apparatus, about adopting the unmanned vehicle associated with a delivery vehicle, are collected the information of this delivery vehicle surrounding environment and communicate with delivery vehicle.Unmanned vehicle can take off from delivery vehicle and/or land.Native system has the mutual identification between unmanned vehicle and delivery vehicle, and the function of avoiding obstacles.Communication between unmanned vehicle (UAV) and delivery vehicle can be implemented to guarantee can communicate reliably between aloft unmanned vehicle and moveable delivery vehicle.
One aspect of the present invention provides a kind of unmanned vehicle to be connected to the method for delivery vehicle, and the method comprises: (a) detects on delivery vehicle one for being different from the mark of other delivery vehicle; B () produces command signal based on this mark, to drive at least one power unit of unmanned vehicle, and then control unmanned vehicle falls in preset range relative to the lateral velocity (lateralvelocity) of delivery vehicle; C unmanned vehicle, when unmanned vehicle falls into preset range relative to the lateral velocity of delivery vehicle, is connected to delivery vehicle by ().
In certain embodiments, described method comprises further: before unmanned vehicle is connected to delivery vehicle, reduces the height of unmanned vehicle.Described preset range can make unmanned vehicle be connected to delivery vehicle and can not damage described unmanned vehicle.
This delivery vehicle and other delivery vehicle can be distinguished uniquely in 5 kilometer range being identified at this delivery vehicle of described delivery vehicle.This mark can be a kind of visual representation that can be detected by optical pickocff.This mark also can be a kind of Quick Response Code (QRcode).Described mark can comprise chequered with black and white pattern.Described mark can comprise a laser spots.Described mark can be detected by infrared ray sensor.This mark can for representing the landing place of unmanned vehicle on delivery vehicle.
Described lateral velocity can be the pace of delivery vehicle.This pace can be greater than 0.The lateral velocity of unmanned vehicle can by changing or keeping the output of at least one power unit to control.This command signal can be produced by a processor.This signal can be in response to the order of the initialization landing command sequence of a startup unmanned vehicle and produce.Described processor can be the airborne processor of unmanned vehicle.Alternatively, described processor can be the airborne processor of delivery vehicle.At least one power unit described can be rotor, and the lateral velocity of unmanned vehicle can be controlled by the rotary speed changed or maintain at least one rotor.
Described preset range can be 5 miles per hour, and is greater than or less than the lateral velocity of delivery vehicle.Described method comprises further: on unmanned vehicle, receives the lateral velocity of delivery vehicle; And calculating unmanned vehicle falls into the target lateral speed in preset range.The method may comprise further: on unmanned vehicle, reception unmanned vehicle falls into the target lateral speed in preset range, described target lateral speed is calculated on described delivery vehicle, and is calculate based on the lateral velocity of described delivery vehicle.
In certain embodiments, unmanned vehicle can be rotor craft.The flying height of unmanned vehicle reduces along with the reduction of the rotary speed of at least one rotor.Described connection can be reached by mechanical connection.Described connection can be connected by magnetic reaches.Described connection can betide the ceiling of delivery vehicle.Described mark can at the ceiling of delivery vehicle.Even if when the speed of delivery vehicle is between Mei little Time 30 miles to 100 miles, this connection can prevent unmanned vehicle to be separated with delivery vehicle.Step (a)-(c) can occur and automatically without the need to manual intervention.Described connection can be automatic, and intervention not needing the operator of delivery vehicle occurs for it.Described connection can be automatic, and it occurs without any need for inside described delivery vehicle or the intervention of the organism of outside.
The present invention directly provides a kind of unmanned vehicle that can be connected to removable delivery vehicle on the other hand, and this unmanned vehicle comprises: (a) at least one power unit, for generation of the lift of unmanned vehicle; B () at least one sensor, for detecting the mark on delivery vehicle; (c) at least one processor, for the mark that basis detects, produce separately or jointly at least one command signal, wherein, at least one power unit described responds described command signal, the lateral velocity controlling described unmanned vehicle falls in preset range, and this scope preset is relevant to the lateral velocity of the estimation of delivery vehicle; D () at least one landing attaching parts, for being connected to delivery vehicle by unmanned vehicle.
At least one power unit described can reduce the flying height of unmanned vehicle when responding described command signal.Before unmanned vehicle is connected to delivery vehicle, at least one power unit described can reduce the flying height of unmanned vehicle.Described preset range can make unmanned vehicle be connected to delivery vehicle and can not damage unmanned vehicle.
This delivery vehicle and other delivery vehicle can be distinguished uniquely in 5 kilometer range being identified at this delivery vehicle of described delivery vehicle.Described mark can be a kind of visual representation that can be sensed by optical pickocff.Described mark also can be a kind of Quick Response Code.Described mark can be a kind of chequered with black and white pattern.Described mark can comprise a laser spots.Described mark can be detected by infrared ray sensor.Described mark can be expressed as the landing place of described unmanned vehicle on described delivery vehicle.
Described lateral velocity can be the pace of delivery vehicle, and this pace can be greater than 0.At least one power unit described can be rotor, and the described lateral velocity of described unmanned vehicle is controlled by the rotary speed changed or maintain described rotor.Described preset range can be 5 miles per hour, and is greater than or less than the described lateral velocity of described delivery vehicle.
In certain embodiments, unmanned vehicle can be rotor craft.The flying height of described unmanned vehicle reduces along with the reduction of the rotary speed of at least one rotor.At least one landing attaching parts described can be used for providing mechanical connection.At least one landing attaching parts described can be used for providing magnetic to connect.At least one landing attaching parts described may be used for being connected with the ceiling of delivery vehicle.Described mark can at the ceiling of delivery vehicle.Even if when the speed of described delivery vehicle is between Mei little Time 30 miles to 100 miles, at least one landing attaching parts described still can prevent from being separated between described unmanned vehicle and described delivery vehicle.
The present invention provides a kind of delivery vehicle for being connected to unmanned vehicle in addition on the one hand.Described delivery vehicle comprises: a mark that can be detected by unmanned vehicle, and described delivery vehicle distinguishes with other delivery vehicle by described mark; At least one Connection Element, for being connected to delivery vehicle by unmanned vehicle.
Described delivery vehicle comprises a processor further, and described processor can determine the position of described unmanned vehicle.Described delivery vehicle comprises a communication unit that can communicate with unmanned vehicle further.Described delivery vehicle comprises the positioning unit that can be determined the speed of delivery vehicle further.This communication unit is for sending the velocity information of delivery vehicle to described unmanned vehicle.Described mark can be arranged on the ceiling of delivery vehicle.At least one Connection Element described also can be arranged on the ceiling of delivery vehicle.
In addition, the invention provides a kind of accommodation apparatus of unmanned vehicle, comprising: one for being connected to the installing component of delivery vehicle; One landing attaching parts, for being connected to prevent unmanned vehicle and accommodation apparatus to be separated with being formed between described unmanned vehicle; And a shade, during for being connected to landing attaching parts when unmanned vehicle, the part to major general's unmanned vehicle is surrounded.
Described installing component can be connected to the ceiling of delivery vehicle.Described installing component is removably connected on delivery vehicle.Described installing component can be connected on delivery vehicle forever admittedly.
In certain embodiments, described landing attaching parts can provide mechanical connection.Described landing attaching parts can provide magnetic to connect.When the speed of described delivery vehicle is between Mei little Time 30 miles to 100 miles, described landing attaching parts can prevent described unmanned vehicle and described delivery vehicle to be separated.When described unmanned vehicle is connected to described landing attaching parts, described landing attaching parts can allow to charge to described unmanned vehicle.When unmanned vehicle is connected to landing attaching parts, these landing attaching parts can allow to carry out exchanges data between unmanned vehicle and delivery vehicle.
When described unmanned vehicle is connected to described landing attaching parts, described unmanned vehicle can surround by described shade completely.Described shade can be connected to a driver, and described driver is for driving the in an open position and closing position of described shade.When vehicle motion, described shade can be opened and close.When described shade is in an open position, described shade can be used as a communication equipment and uses.Described communication equipment can be satellite antenna.Described communication equipment can be used in communicating with described unmanned vehicle.
Described unmanned vehicle comprises a processor further, and described processor is used for, when described unmanned vehicle completes landing and is connected to described landing attaching parts, producing the signal that is closed shade.Unmanned vehicle comprises a processor further, during for being about to take off from described delivery vehicle when described unmanned vehicle, produces the signal that is opened shade.Described shade can be waterproof.Described shade can by solar powered.Described shade can store energy, and described energy is used for, when described unmanned vehicle is connected to landing attaching parts, drives described unmanned vehicle and/or charging to described unmanned vehicle.Described landing attaching parts can simultaneously and multiple unmanned vehicle connect.Described shade may be used for simultaneously surrounding multiple unmanned vehicle at least partly.
Other aspect of the present invention, described delivery vehicle forms a platform taking off for described unmanned vehicle or land.This delivery vehicle comprises: the accommodation apparatus of foregoing unmanned vehicle; And at least one is for driving the power unit of delivery vehicle.
Described delivery vehicle can be automobile, truck, goods car or bus.Described delivery vehicle comprises multiple wheel.Described delivery vehicle comprises at least one further can carry out the communication unit of radio communication with unmanned vehicle.Described communication can comprise the two-way communication with unmanned vehicle.Described shade can be the ceiling of delivery vehicle, and it can open and close.
In addition, other aspects of the present invention provide a kind of method of accommodating unmanned vehicle, and the method comprises: the accommodation apparatus providing a foregoing unmanned vehicle; The state of detecting unmanned vehicle; And to change according to the state of unmanned vehicle or to keep the state of shade.
Described method comprises further: when described unmanned vehicle complete land and be connected to described landing attaching parts time, close described accommodation apparatus.The method also comprises further: when described unmanned vehicle will take off from delivery vehicle, open described accommodation apparatus.
In addition, method on the moveable delivery vehicle that other aspects of the present invention also provide a kind of unmanned vehicle to that lands supporting, the method comprises: produce one for driving the command signal of at least one power unit of unmanned vehicle, control the position of described unmanned vehicle relative to the delivery vehicle of movement, so, described unmanned vehicle moves along the running orbit that the moveable delivery vehicle with supporting is consistent; Along running orbit obstruction detection; And the running orbit changing described unmanned vehicle is to avoid described barrier.
Described unmanned vehicle is controlled from the input remote controllers by user relative to the position of described delivery vehicle.Described unmanned vehicle can control according to predetermined flight path relative to the position of delivery vehicle.
Described running orbit can comprise the predetermined flight path of unmanned vehicle.The flight path of described unmanned vehicle can comprise unmanned vehicle and drop to flight path on delivery vehicle.The flight path of described unmanned vehicle can comprise the flight path that unmanned vehicle takes off above delivery vehicle.The flight path of unmanned vehicle can comprise the flight path that unmanned vehicle flies at delivery vehicle front preset distance.The flight path of described unmanned vehicle can comprise the flight path that described unmanned vehicle flies at described delivery vehicle preset range.After described barrier is eliminated, the unmanned vehicle flight path after change can be consistent with the flight track of unmanned vehicle.
In certain embodiments, described barrier comprises building.Described barrier can comprise mobile object.Described barrier can be detected by least one sensor.Described barrier can be accessed GIS-Geographic Information System by unmanned vehicle and be detected.This geography information can be cartographic information.
The present invention provides a kind of method allowing unmanned vehicle to take off from supporting removable delivery vehicle on the other hand, the method comprises: produce one for driving the command signal of at least one power unit of unmanned vehicle, control the position of unmanned vehicle relative to removable delivery vehicle, so, described unmanned vehicle can move along the running orbit consistent with described supporting moveable delivery vehicle; Along running orbit obstruction detection; Prevent unmanned vehicle from taking off, until barrier is not on running orbit, or the running orbit changing unmanned vehicle carrys out avoiding obstacles.
In addition, aspects more of the present invention can comprise a kind of for controlling the controller that unmanned vehicle runs, and this controller comprises: at least one user's input element, and at least one user's input element described is configured to a part for delivery vehicle; And a processor, for receiving the signal of described user's input element input and producing an instruction, described instruction is sent to described unmanned vehicle and runs to control described unmanned vehicle.
At least one user's input element described can be the steering wheel of delivery vehicle at least partially.At least one user's input element described can be at least a part for the gearshift controller of delivery vehicle.At least one user's input element described can be the instrument board of delivery vehicle at least partially.At least one user's input element described can be the display unit of delivery vehicle at least partially.
In certain embodiments, at least one user's input element described can comprise a button.At least one user's input element described can comprise a manipulation pole.At least one user's input element described can comprise a touch-screen.At least one user's input element described can comprise a microphone.At least one user's input element described can comprise a video camera.
Alternatively, the control operation of described unmanned vehicle comprises the flight controlling described unmanned vehicle.The control operation of unmanned vehicle comprises the position of the sensor controlling unmanned vehicle.Described sensor can be video camera.The control operation of described unmanned vehicle comprises and controlling the operation of the sensor of unmanned vehicle.
One aspect of the present invention can comprise a kind of for controlling the delivery vehicle that unmanned vehicle runs, and this delivery vehicle comprises: foregoing controller; And at least one is for driving the power unit of described delivery vehicle.
Described delivery vehicle can be automobile, truck, goods car or bus.This delivery vehicle can comprise multiple wheel.This delivery vehicle comprises at least one further can carry out the communication unit of radio communication with unmanned vehicle.Described communication can comprise the two-way communication with unmanned vehicle.
One aspect of the present invention provides a kind of method controlling unmanned vehicle and run, the method comprises: receive from the unmanned vehicle control inputs signal of user by least one the user's input element input on delivery vehicle, wherein, at least one user's input element described is a part for described delivery vehicle; And utilizing processor to produce an instruction according to the signal inputted from user's input element, described instruction is sent to described unmanned vehicle and runs to control described unmanned vehicle.
At least one user's input element described can be built in the steering wheel of delivery vehicle.At least one user's input element described can be built in the gearshift controller of delivery vehicle.At least one user's input element described can be built in the instrument board of delivery vehicle.At least one user's input element described can be the display unit of delivery vehicle at least partially.
In certain embodiments, at least one user's input element described can comprise a button.At least one user's input element described can comprise a touch-screen.At least one user's input element described can comprise a microphone.At least one user's input element described can comprise a video camera.
Described user's input can comprise the touch input of user.Described user's input can comprise the phonetic entry of user.Described user's input can comprise the gesture input of user.Described user's input can provide in described vehicle motion.Described user's input can provide in the process of delivery vehicle described in user operation.
Described instruction can control the flight of unmanned vehicle.Described instruction can control the sensor on unmanned vehicle.Described instruction can initialize the command sequence that described unmanned vehicle takes off from described delivery vehicle.Described instruction can initialize unmanned vehicle and drop to command sequence on delivery vehicle.
The present invention also provides a kind of display from the method for the information of unmanned vehicle, the method comprises: provide a delivery vehicle, and this delivery vehicle to take off from described delivery vehicle for allowing unmanned vehicle when described delivery vehicle is kept in motion or to drop to described delivery vehicle; The information of unmanned vehicle is received by the communication unit of delivery vehicle; And when delivery vehicle is kept in motion, by the information of the display unit display unmanned vehicle of delivery vehicle.
Described delivery vehicle comprises footstock, and this footstock is for allowing unmanned vehicle to take off from delivery vehicle or droping to delivery vehicle.Information from unmanned vehicle can comprise the positional information of unmanned vehicle.Information from unmanned vehicle can comprise the image that the video camera be installed on unmanned vehicle obtains.Information from unmanned vehicle can comprise the charge condition of the energy storage device of unmanned vehicle.
In other embodiments, described display unit to be built on delivery vehicle and cannot to dismantle from delivery vehicle.Alternatively, described display unit can disassemble from delivery vehicle.Described information can show on the display unit in real time.Described information can show in unmanned vehicle flight course.Described information can show when unmanned vehicle drops on delivery vehicle.
Information also can be sent to unmanned vehicle from delivery vehicle by described communication unit.
In addition, some aspects of the present invention also provide a kind of delivery vehicle for showing the information from unmanned vehicle, this delivery vehicle comprises: an installing component, for being kept in motion in process when delivery vehicle, unmanned vehicle is allowed to take off from delivery vehicle and/or drop on described delivery vehicle; A communication unit, for receiving the information from unmanned vehicle; And a display unit, for being kept in motion in process when delivery vehicle, show the information from unmanned vehicle.
Some aspects of the present invention also provide the communication means between a kind of unmanned vehicle and delivery vehicle, and the method comprises: provide a kind of delivery vehicle, and when delivery vehicle is kept in motion in process, this delivery vehicle can communicate with unmanned vehicle; And use indirect communication method to be communicated with unmanned vehicle by the communication unit of delivery vehicle.
When delivery vehicle is kept in motion in process, described delivery vehicle allows unmanned vehicle take off from described delivery vehicle and/or drop on described delivery vehicle.Described delivery vehicle comprises a footstock, and described footstock allows unmanned vehicle take off from the ceiling of delivery vehicle and/or drop to the ceiling of delivery vehicle.
Described indirect communication method can comprise the communication undertaken by mobile telephone network.Described mobile telephone network can be 3G or 4G network.This indirect communication method uses at least one for making the intermediate equipment communicated between delivery vehicle with unmanned vehicle.When delivery vehicle is kept in motion in process, described indirect communication can be used.
Described method comprises further: determine to be switched to direct communication means by processor; And adopt described direct communication means to communicate with unmanned vehicle; The method also comprises: by the directional aerial of delivery vehicle, uses direct communication means to communicate with unmanned vehicle.When unmanned vehicle is connected to delivery vehicle, described directional aerial has the function of the shade serving as unmanned vehicle.
Extra some aspects of the present invention provide a kind of method providing communication between unmanned vehicle and delivery vehicle, the method comprises: provide a kind of delivery vehicle, this delivery vehicle is used for being kept in motion in process when this delivery vehicle, communicates with unmanned vehicle; Processor is utilized to calculate the angle of the directional aerial for locating delivery vehicle; And by the directional aerial of delivery vehicle, use the method for directly communication to communicate with unmanned vehicle.
When delivery vehicle is kept in motion in process, described delivery vehicle allows unmanned vehicle take off from described delivery vehicle and/or drop on described delivery vehicle.The angle of described directional aerial can calculate according to the position of unmanned vehicle relative to delivery vehicle.This position comprises relative altitude and opposed lateral positions.When unmanned vehicle is connected to delivery vehicle, described directional aerial can be formed by a shade for unmanned vehicle.Described method also comprises: determine to be switched to an indirect communication method by processor; And use indirect communication method to communicate with unmanned vehicle.
Be understandable that, different aspect of the present invention can independently, jointly or be combined with each other.Various aspects of the present invention can be applicable in following any special application or the loose impediment of any type.The description of any relevant flight device in the present invention, such as unmanned vehicle, can be applicable to or for any mobile object, such as any delivery vehicle.In addition, system, equipment and method for air transport (such as, flight) that the present invention describes also are applicable to the motion of other type, the actions such as such as ground motion, aquatic sports, sub aqua sport or space flight.
Other side content of the present invention and feature are elaborated at following description, claim and accompanying drawing again.
Bibliography
The all open source literatures mentioned in this description, patent and patent application are incorporated in this description as a reference, and each independent open source literature, patent and patent application are also incorporated in this description clearly, individually as a reference.
Accompanying drawing explanation
The technical characteristic that the present invention has arranges in detail in claim.In order to understand feature of the present invention and beneficial effect better, be described in detail each embodiment of the present invention referring to accompanying drawing, this description is also nonrestrictive, wherein, in described accompanying drawing:
Fig. 1 is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle takes off from the delivery vehicle be associated with this unmanned plane during flying device.
Fig. 2 is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle drops on delivery vehicle.
Fig. 3 is that the embodiment of the present invention is set forth when unmanned vehicle attempts to drop in delivery vehicle the schematic diagram realizing avoiding obstacles.
Fig. 4 is that the embodiment of the present invention is set forth when unmanned vehicle is attempted to take off the middle schematic diagram realizing avoiding obstacles from delivery vehicle.
Fig. 5 is that the embodiment of the present invention sets forth the schematic diagram be mechanically connected between unmanned vehicle and delivery vehicle.
Fig. 6 is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle is connected with function between delivery vehicle.
Fig. 7 is the schematic diagram that the embodiment of the present invention sets forth that unmanned vehicle drops to the accommodation apparatus in delivery vehicle.
Fig. 8 is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle drops in delivery vehicle.
Fig. 9 is the schematic diagram that the embodiment of the present invention sets forth that unmanned vehicle distinguishes multiple delivery vehicle.
Figure 10 is that the embodiment of the present invention sets forth the schematic diagram communicated between the delivery vehicle that is associated with this unmanned vehicle of unmanned vehicle.
Figure 11 is the schematic diagram that the embodiment of the present invention is set forth multiple unmanned vehicle and communicated with multiple delivery vehicle.
Figure 12 A is the schematic diagram that the embodiment of the present invention sets forth the antenna of the delivery vehicle communicated with unmanned vehicle.
Figure 12 B is that the embodiment of the present invention sets forth the delivery vehicle needed for regulation of longitudinal angle for calculating directional aerial and the schematic diagram of longitudinal relation between unmanned vehicle.
Figure 12 C is that the embodiment of the present invention sets forth the delivery vehicle needed for lateral angles for calculating directional aerial and the schematic diagram of horizontal relationship between unmanned vehicle.
Figure 13 is the schematic diagram that the embodiment of the present invention sets forth direct communication between unmanned vehicle and delivery vehicle and indirect communication.
Figure 14 is the schematic diagram that the embodiment of the present invention sets forth communication stream between unmanned vehicle and delivery vehicle.
Figure 15 is the schematic diagram that the embodiment of the present invention sets forth unmanned vehicle control unit.
Figure 16 is the schematic diagram that the embodiment of the present invention sets forth unmanned vehicle.
Figure 17 is that the embodiment of the present invention sets forth the schematic diagram comprising the loose impediment of The Cloud Terrace and load equipment.
Figure 18 is the block diagram that the embodiment of the present invention sets forth loose impediment control system.
Detailed description of the invention
It is mutual that system of the present invention, Apparatus and method for provide between unmanned vehicle (UAV) and delivery vehicle.Description about unmanned vehicle also can be suitable for unmanned delivery's instrument of any type or the loose impediment of other any type.Description about delivery vehicle can be applicable to land, underground, under water, the delivery vehicle of waterborne, aerial or space.Docking between unmanned vehicle with delivery vehicle is comprised alternately between unmanned vehicle with delivery vehicle.When unmanned vehicle flies away from delivery vehicle and/or is connected to delivery vehicle, can communicate between unmanned vehicle with delivery vehicle.
When people take delivery vehicle, it is desirable to collect oneself be sitting in delivery vehicle collect less than information.In other embodiments, when people wish Information Monitoring, can Information Monitoring in delivery vehicle running.Unmanned vehicle can be collected in information delivery vehicle being not easy collect, such as, the driver of delivery vehicle or passenger wish the scene of watching front, but their visual field may be blocked by other delivery vehicle, natural landscape, building or other barrier.Unmanned vehicle just can take off and top of flying from delivery vehicle.Unmanned vehicle also can flight forward or adopt any flying method relative to delivery vehicle to fly.Unmanned vehicle is provided with video camera, the image stream of acquisition can be sent to delivery vehicle in real time.Therefore, the driver of delivery vehicle or passenger can watch front scene or collect the information of surrounding environment.
No matter delivery vehicle is under inactive state or mobile status, and unmanned vehicle all can take off from delivery vehicle and drop on delivery vehicle.Unmanned vehicle can pick out its supporting delivery vehicle from other delivery vehicle.This mode be highly suitable for one among a small circle in and there is a lot of delivery vehicle time the such as traffic jam or city that the cause situation of driving.The function of avoiding obstacles is had in described unmanned vehicle.Described unmanned vehicle can avoiding obstacles and guarantee to drop on correct delivery vehicle.Described unmanned vehicle can obstruction detection and avoiding obstacles when taking off and land.Unmanned vehicle can detect and avoiding obstacles in flight course.Unmanned vehicle can by the user's Non-follow control on delivery vehicle.In other embodiments, the offline mode of unmanned vehicle can be automatic mode or semiautomatic-mode.User can switch between different offline mode, or selects different offline mode according to different situations.
When described unmanned vehicle rests on described delivery vehicle, described unmanned vehicle can form a physical connection with described delivery vehicle.When described delivery vehicle is when mobile, this physical connection can keep described unmanned vehicle to be connected on delivery vehicle.When described unmanned vehicle rests on described delivery vehicle, a covering can be provided to hide and/or protect described unmanned vehicle.When described unmanned vehicle rests on delivery vehicle, electrical connection and/or data cube computation between described unmanned vehicle and described delivery vehicle, can be formed.
Can communicate between unmanned vehicle and delivery vehicle.When unmanned vehicle rests on delivery vehicle and when unmanned vehicle is in the process of flight, can both communicate between unmanned vehicle and delivery vehicle.Direct communication pattern and/or indirect communication pattern all can be applicable in this communication.User can control unmanned vehicle by user's input element, and described user's input element can be the section components in delivery vehicle.User can monitor the data that unmanned vehicle gathers in delivery vehicle.
Consulting shown in Fig. 1, is the schematic diagram that the unmanned vehicle be associated with delivery vehicle in the embodiment of the present invention flies away from delivery vehicle.The embodiment of the present invention provides a kind of delivery vehicle docking system 100, comprises unmanned vehicle 110 and delivery vehicle 120.Described delivery vehicle can comprise at least one power unit 130.
Any description about unmanned vehicle 110 goes for the loose impediment of any type, is also applicable to the unpiloted loose impediment (such as, comprising in aerial, ground, water or the loose impediment of space) of any type.Unmanned vehicle can respond the instruction from remote controllers.These remote controllers can be free of attachment to unmanned vehicle.In other embodiments, unmanned vehicle can run or semi-automatic operation automatically.Unmanned vehicle can follow a set of instruction pre-set.In other embodiments, unmanned vehicle can carry out semi-automatic operation by response from least one instruction of remote controllers, otherwise just automatically runs.
Unmanned vehicle 110 can be aircraft.Described unmanned vehicle has at least one power unit, aloft flies for driving unmanned vehicle.At least one power unit described can make unmanned vehicle with at least one, two or more, three or more, four or multiple, five or multiple, six or multiple angle free flights.In some example, unmanned vehicle rotates with an axle, two axle, three axles or more axles.The rotation of multiple rotating shaft can be orthogonal.In whole flight course, the rotation of rotating shaft can keep perpendicular to one another.Multiple rotating shaft can comprise pitch axis, roll axle and/or course axle.Unmanned vehicle can move along at least one dimension.Such as, the lifting power that at least one rotor produces can make unmanned vehicle upwards promote.In other embodiments, unmanned vehicle can be mobile along Z axis (relative to unmanned vehicle upwards), X-axis and/or Y-axis (can be side direction).Unmanned vehicle can move along a vertical each other axle, two axles or three axles.
Unmanned vehicle 110 is a kind of rotor crafts.In other embodiments, unmanned vehicle is a kind of multi-rotor aerocraft, and it comprises multiple rotor.Be that unmanned vehicle produces lifting power during described rotor wing rotation.Described rotor can be a kind of power unit, for making unmanned vehicle free flight aloft.Each rotor can rotate according to phase same rate, and/or can produce identical lifting power or thrust.Each rotor also can rotate according to different rates, and this may produce different lifting power or thrust and/or unmanned vehicle is rotated.In other embodiments, unmanned vehicle comprises one, two, three, four, five, six, seven, eight, nine, ten or more rotors.Described rotor can be configured such that respective rotating shaft is parallel to each other.In other embodiments, rotor can have rotating shaft, and rotating shaft is with arbitrarily angled relative to another one rotating shaft, and this may affect the motion of unmanned vehicle.
The upright position of unmanned vehicle and/or speed can control the output of at least one power unit of unmanned vehicle by maintaining and/or adjusting.Such as, the rotary speed increasing at least one rotor can contribute to unmanned vehicle to be increased flying height or increases flying height at faster speed.The rotary speed increasing at least one rotor can increase the thrust of rotor.The rotary speed reducing at least one rotor can contribute to unmanned vehicle and reduces flying height or reduce flying height at faster speed.The rotary speed reducing at least one rotor can be reduced by least the thrust of a rotor.When unmanned vehicle takes off, such as, take off from delivery vehicle, the output being supplied to power unit can increase relative to the landing state before it.When unmanned vehicle lands, such as, drop on delivery vehicle, the output being supplied to power unit can reduce relative to the state of flight before it.
The lateral attitude of unmanned vehicle and/or speed can control the output of at least one power unit of unmanned vehicle by maintaining and/or adjusting.The height of unmanned vehicle and the rotary speed of at least one rotor can affect the transverse movement of unmanned vehicle.Such as, unmanned vehicle can tilt in specific direction to move in this direction, and the rotary speed of rotor can affect transverse movement and/or the tracks of unmanned vehicle.Lateral attitude and/or the speed of unmanned vehicle can be controlled by the rotary speed of at least one rotor changed or maintain unmanned vehicle.
The size of unmanned vehicle 110 can be less.Unmanned vehicle can be picked up and/or be carried by user.User can a portable unmanned vehicle.In the ceiling that unmanned vehicle can be arranged on delivery vehicle or delivery vehicle 120.Unmanned vehicle can be placed on the ceiling of delivery vehicle, is carried by delivery vehicle.Unmanned vehicle can be placed on the boot of delivery vehicle, is carried by delivery vehicle.Unmanned vehicle can be placed on the front shroud of delivery vehicle, is carried by delivery vehicle.Preferably, the size of unmanned vehicle is preferably no more than the width of delivery vehicle.Preferably, the size of unmanned vehicle is preferably no more than the length of delivery vehicle.
The full-size of unmanned vehicle 110 (such as length, width, highly, diagonal, diameter) can 100cm be not more than.In other embodiments, full-size can be less than or equal to 1mm, 5mm, 1cm, 3cm, 5cm, 10cm, 12cm, 15cm, 20cm, 25cm, 30cm, 35cm, 40cm, 45cm, 50cm, 55cm, 60cm, 65cm, 70cm, 75cm, 80cm, 85cm, 90cm, 95cm, 100cm, 110cm, 120cm, 130cm, 140cm, 150cm, 160cm, 170cm, 180cm, 190cm, 200cm, 220cm, 250cm or 300cm.Preferably, the full-size of unmanned vehicle can be more than or equal to any one value above-mentioned.The full-size of unmanned vehicle can between above-mentioned any two values.
The weight of unmanned vehicle can be very light.Such as, the weight of unmanned vehicle can be less than or equal to 1mg, 5mg, 10mg, 50mg, 100mg, 500mg, 1g, 2g, 3g, 5g, 7g, 10g, 12g, 15g, 20g, 25g, 30g, 35g, 40g, 45g, 50g, 60g, 70h, 80h, 90g, 100g, 120g, 150g, 200g, 250g, 300g, 350g, 400g, 450g, 500g, 600g, 700g, 800g, 900g, 1kg, 1.1kg, 1.2kg, 1.3kg, 1.4kg, 1.5kg, 1.7kg, 2kg, 2.2kg, 2.5kg, 3kg, 3.5kg, 4kg, 4.5kg, 5kg, 5.5kg, 6kg, 6.5kg, 7kg, 7.5kg, 8kg, 8.5kg, 9kg, 9.5kg, 10kg, 11kg, 12kg, 13kg, 14kg, 15kg, 17kg, or 20kg.Preferably, the weight of unmanned vehicle can be more than or equal to any one value above-mentioned.The weight of unmanned vehicle can between above-mentioned any two values.
Described unmanned vehicle 110 can carry out with delivery vehicle 120 alternately.Description about delivery vehicle goes for the loose impediment (such as, the loose impediment of aerial, land, waterborne or space) of any type.Delivery vehicle can by the human users on delivery vehicle.Delivery vehicle can by the human users in delivery vehicle.Alternatively, delivery vehicle can respond the instruction from remote controllers.Described remote controllers can be free of attachment on delivery vehicle.In other embodiments, delivery vehicle can run or semi-automatic operation automatically.Delivery vehicle can follow a set of programmed instruction pre-set.
Described delivery vehicle 120 comprises at least one power unit 130, for making vehicle motion.Delivery vehicle can on land, air, water or space move around.Delivery vehicle can on land, ground, under water, waterborne, in the air, and/or spatial movement.At least one power unit described can make delivery vehicle with at least one, two or more, three or more, four or multiple, five or multiple, six or multiple angle freely-movables.Described power unit can make delivery vehicle move on any medium.Such as, power unit can comprise wheel, and it travels on land for making delivery vehicle.The power unit of other embodiment can include but not limited to, the power unit of any types such as pedal, propeller, rotor, injector.Described power unit can make delivery vehicle move in single landform or complicated landform.Described power unit can allow delivery vehicle upwards climb or climb downwards.Delivery vehicle can be the instrument of self-driven type.
Described delivery vehicle can comprise the driver of engine, battery or other type.In other embodiments, delivery vehicle can comprise internal combustion engine, and delivery vehicle can rely on a kind of fuel and/or electric power to run.The power unit of delivery vehicle can by the driver drives of engine, battery or other type.
Described delivery vehicle 120 can be the loose impediment of any type, comprise, but be not limited only to, the delivery vehicle of automobile, truck, passenger vehicle, bus, lorry, SUV type automobile, mini lorry, container car, jeep, motorcycle, bicycle, tricycle, electric motor car, train, subway, light rail, aircraft, helicopter, blimp, fire balloon, spacecraft, steamer, yacht, submarine or any type.Described delivery vehicle can be the delivery vehicle of carrying.Described delivery vehicle can hold a multiple member.Described delivery vehicle can be operated by least one member.At least one member can control the function of delivery vehicle.Such as, described member can be the driver of automobile or land carrying tool, or the pilot of aircraft, steamer, spacecraft, or in aerial, the water of other type or the driver of space vehicles instrument.
Described delivery vehicle 120 can be a kind of docking delivery vehicle that unmanned vehicle 110 can be allowed to stop.Described unmanned vehicle can drop on described delivery vehicle, also can take off from described delivery vehicle.When described unmanned vehicle rests on described delivery vehicle, described delivery vehicle can carry described unmanned vehicle.In other embodiments, when described unmanned vehicle rests on described delivery vehicle, between described unmanned vehicle and delivery vehicle, mechanical connection can be formed.When described unmanned vehicle rests on described delivery vehicle, described delivery vehicle can be in movement.When described unmanned vehicle rests on delivery vehicle, described delivery vehicle can keep static and/or move.
Described delivery vehicle 110 can rest in any position of described delivery vehicle 120.Such as, described unmanned vehicle can rest in the ceiling of described delivery vehicle.Described unmanned vehicle can rest in the upper surface of described delivery vehicle.Described unmanned vehicle can rest in the boot of delivery vehicle.Such as, unmanned vehicle can be placed on the upper surface of the boot of delivery vehicle.In other embodiments, described unmanned vehicle can rest in the front shroud of described delivery vehicle.Described unmanned vehicle can be placed on the upper surface of described delivery vehicle front shroud.In other embodiments, described unmanned vehicle can rest in by the trailer of described delivery vehicle traction, or at the lateral parts of described delivery vehicle.
Described unmanned vehicle 110 can take off from described delivery vehicle 120.In other embodiments, in described vehicle motion process, described unmanned vehicle can take off from delivery vehicle.Described delivery vehicle start and/or a people when operating described delivery vehicle, described unmanned vehicle takes off from described delivery vehicle.At described delivery vehicle in static and/or motion process, described unmanned vehicle all can take off from described delivery vehicle.In taking off, described unmanned vehicle can rise relative on described delivery vehicle position.Such as, if described unmanned vehicle is multi-rotor aerocraft, at least one rotor wing rotation promotes power make unmanned vehicle leave described delivery vehicle to rise to certain altitude to produce.In other embodiments, other extra separating step may cause described unmanned vehicle to fly away from described delivery vehicle.
In described delivery vehicle driving process, described unmanned vehicle also can take off.In other embodiments, described unmanned vehicle and described delivery vehicle keep communicating, and the information that can send is to delivery vehicle.When the flight of described unmanned vehicle, described delivery vehicle can maybe cannot to unmanned vehicle described in transmission information.
Consulting shown in Fig. 2, is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle drops on delivery vehicle.The embodiment of the present invention provides a kind of delivery vehicle docking system 200, comprises unmanned vehicle 210 and delivery vehicle 220.
Described unmanned vehicle 210 can fly and fly away from described delivery vehicle 220.Described unmanned vehicle can drop on the delivery vehicle that fleet-footed runner's device unmanned with this be associated.When described unmanned vehicle to be ready dropping on delivery vehicle, described unmanned vehicle can rest on delivery vehicle.Once after described unmanned vehicle completes landing, described unmanned vehicle can be carried by described delivery vehicle.
Described delivery vehicle 220 can with V
vEHICLEspeed move, comprise and move forward and/or move backward, also can not comprise and move forward and/or move backward.Described delivery vehicle can straight-line travelling and/or turning.Described delivery vehicle directly can move from side without the need to changing direction, and described delivery vehicle also can not without the need to directly moving from side under changing nyctitropic situation.Described delivery vehicle can any speed move.In certain embodiments, V
vEHICLEcan 0 be greater than.In other embodiments, V
vEHICLEcan 0 be equaled.The translational speed of described delivery vehicle and moving direction can change.V
vEHICLErefer to the lateral velocity of described delivery vehicle.When described delivery vehicle travels on a surface, as land or waterborne time, described delivery vehicle can travel with lateral velocity in the horizontal plane.
Described unmanned vehicle 210 can V
uAVspeed drop on delivery vehicle.In certain embodiments, speed V
uAVcomprise this cross stream component V
uAV_Xand longitudinal component V
uAV_Y.In other embodiments, the cross stream component V of described unmanned vehicle
uAV_Xthe speed V of described delivery vehicle can be parallel to
vEHICLEcross stream component.Therefore, when unmanned vehicle to be ready dropping to delivery vehicle, can fly with the identical transverse path of described delivery vehicle.In certain embodiments, when unmanned vehicle is about to drop to described delivery vehicle near delivery vehicle, between described unmanned vehicle and described delivery vehicle, the differential seat angle in orientation can be less than or equal to 0 degree, 1 degree, 2 degree, 3 degree, 4 degree, 5 degree, 7 degree, 10 degree, 12 degree, 15 degree or 20 degree.Described unmanned vehicle can fly with the identical lateral velocity of described delivery vehicle.When described unmanned vehicle is about to landing near described delivery vehicle, the lateral velocity difference between unmanned vehicle and delivery vehicle can be less than or equal to 0 mile per hour, 1 mile, 2 miles, 3 miles, 4 miles, 5 miles, 7 miles, 10 miles, 12 miles, 15 miles or 20 miles.When on described unmanned vehicle lands described delivery vehicle, described unmanned vehicle falls into a predetermined velocity interval relative to the lateral velocity of delivery vehicle.Described predetermined velocity interval can be any one velocity amplitude above-mentioned, and this predetermined velocity interval can ensure that described unmanned vehicle is connected with described delivery vehicle and does not damage described unmanned vehicle and/or described delivery vehicle.When described unmanned vehicle is about to drop to described delivery vehicle near described delivery vehicle, the lateral velocity difference between described unmanned vehicle and described delivery vehicle can be less than or equal to 0%, 1%, 2%, 3%, 4%, 5%, 6%, 7%, 8%, 9%, 10%, 12% or 15% of described unmanned vehicle speed.In certain embodiments, if described unmanned vehicle follow the tracks of the time droping to described delivery vehicle be less than or equal to 60 seconds, 45 seconds, 30 seconds, 25 seconds, 20 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds or 1 second, described unmanned vehicle is about to drop on described delivery vehicle near described delivery vehicle.
In certain embodiments, the lateral velocity of described delivery vehicle is confirmable.One target lateral speed can be calculated the speed deciding described unmanned vehicle.Described target lateral speed falls in described predetermined scope.Control the power unit of described unmanned vehicle to make described unmanned vehicle with target velocity and/or predetermined speed range flight.
The speed V of described unmanned vehicle
uAVlongitudinal component V
uAV_Yunmanned vehicle can be made to drop to the upper surface of described delivery vehicle.In other embodiments, described unmanned vehicle drops to delivery vehicle at leisure from higher height.In some other embodiment, described unmanned vehicle can drop to described delivery vehicle at leisure from higher height and/or lower height.Such as, lateral velocity can with identical altitude after described delivery vehicle, and increase to than described delivery vehicle speed faster by described unmanned vehicle, then drops to described delivery vehicle from diving below of described delivery vehicle.The longitudinal component of described unmanned vehicle speed can be 0, or can be one on the occasion of being also a negative value.In other embodiments, the longitudinal component of unmanned vehicle speed is smaller so that unmanned vehicle can drop on delivery vehicle lightly.When unmanned vehicle is about to drop on described delivery vehicle near described delivery vehicle, the longitudinal component of described speed can be less than or equal to 10 miles per hour, 9 miles, 8 miles, 7 miles, 6 miles, 5 miles, 4 miles, 3 miles, 2 miles or 1 mile in positive direction or negative direction.
Embodiments provide a kind of unmanned vehicle and drop to method on described delivery vehicle.Produce at least one power unit that command signal drives described unmanned vehicle, thus control described unmanned vehicle and fly relative to the position of described delivery vehicle.Described unmanned vehicle flies along the flight track parallel with described delivery vehicle.Described command signal can be produced by described unmanned vehicle, also can be produced by described delivery vehicle.Preferably, described command signal is produced by described delivery vehicle.In other embodiments, described command signal can be produced by other any equipment, such as outer computer or server.
Produce described command signal to be used for responding the Mobile data of described delivery vehicle and/or described unmanned vehicle.Such as, the position of described delivery vehicle and/or velocity information, the moving direction information of described delivery vehicle, the position of described unmanned vehicle, direction and/or velocity information.In other embodiments, described unmanned vehicle can produce command signal by least one processor based on described data.In implementing one, described command signal can be produced by described delivery vehicle.Described delivery vehicle receives the information with the position of described unmanned vehicle, direction and/or velocity correlation.Described delivery vehicle can produce command signal according to the information of described delivery vehicle information and described unmanned vehicle.In other embodiments, external equipment also can be used for receiving the information of described delivery vehicle and described unmanned vehicle, and described external equipment produces command signal according to the information of described delivery vehicle and described unmanned vehicle, and is sent to described unmanned vehicle.The described processor for generation of command signal is installed on described unmanned vehicle, on described delivery vehicle or on an external equipment.Response to the instruction of described unmanned vehicle, and generates the described command signal initializing described landing command sequence.Described instruction can be provided by delivery vehicle.In certain embodiments, when described unmanned vehicle detects mistake, landing instruction can be produced by described unmanned vehicle.Such as, if at least one component malfunction, or when the electricity of battery is lower, described unmanned vehicle then determines the landing time automatically.
In other embodiments, described delivery vehicle sends its position coordinates in real time to described unmanned vehicle.Described delivery vehicle has locating unit, and described positioning unit can determine the position of described delivery vehicle.In the present embodiment, described positioning unit is gps system.Described delivery vehicle sends gps coordinate to described unmanned vehicle.When described unmanned vehicle needs landing, described unmanned vehicle will fly the gps coordinate position of nearly described delivery vehicle.In other embodiments, when described gps coordinate is wrong, other auxiliary equipment will provide booster action for described unmanned vehicle drops on delivery vehicle.Such as, identify foregoing.Described mark can be the mark of view-based access control model, and the mark of the view-based access control model on the video camera picked-up delivery vehicle on described unmanned vehicle provides locates more accurately.Described mark can be that any other identifies foregoing.
When described delivery vehicle is kept in motion in process, described unmanned vehicle also can drop on described delivery vehicle.When described delivery vehicle is not with straight-line travelling, described unmanned vehicle also can drop on described delivery vehicle.Such as, even if when described delivery vehicle swerves or waves traveling along bend, described unmanned vehicle also can drop on delivery vehicle.The angle that delivery vehicle is turned can be 5 degree, 10 degree, 15 degree, 20 degree, 30 degree, 45 degree, 60 degree, 75 degree, 90 degree, 105 degree, 120 degree, 135 degree, 150 degree, 165 degree, 180 degree, 270 degree or 360 degree.
When described delivery vehicle is with the speeds of change, described unmanned vehicle also can drop on described delivery vehicle.In certain embodiments, when described delivery vehicle is to be approximately greater than the speeds of 5 miles per hour, 10 miles, 15 miles, 20 miles, 25 miles, 30 miles, 35 miles, 40 miles, 45 miles, 50 miles, 55 miles, 60 miles, 65 miles, 70 miles, 80 miles, 90 miles or 100 miles, described unmanned vehicle also can drop on described delivery vehicle.When described delivery vehicle travels to be less than any one velocity amplitude above-mentioned, described unmanned vehicle also can drop on delivery vehicle.When scope between above-mentioned any two velocity amplitudes of the travel speed of described delivery vehicle, described unmanned vehicle also can drop on described delivery vehicle.
Described unmanned vehicle to drop on described delivery vehicle and rests on described delivery vehicle.Described unmanned vehicle is connected by forming one with described delivery vehicle thus rests on described delivery vehicle.Described connection comprises mechanical connection, and when described delivery vehicle runs with certain speed, this connection has enough strong strength and can prevent described unmanned vehicle from falling down from described delivery vehicle.Described certain speed is approximately less than or equal to 5 miles per hour, 10 miles, 15 miles, 20 miles, 25 miles, 30 miles, 35 miles, 40 miles, 45 miles, 50 miles, 55 miles, 60 miles, 65 miles, 70 miles, 80 miles, 90 miles or 100 miles.When described delivery vehicle is to be greater than any one speed above-mentioned operation or the operation of the speed between above-mentioned any company velocity interval, described connection also has enough strong strength and described unmanned vehicle can be kept to rest on described delivery vehicle.
Consulting shown in Fig. 3, is that the embodiment of the present invention is set forth described unmanned vehicle and dropped to the schematic diagram realizing avoiding obstacles in delivery vehicle process.Such as, a unmanned vehicle 310 is attempted to drop on a delivery vehicle 320.Drop at described unmanned vehicle in the flight path of described delivery vehicle and may have barrier 330.Described unmanned vehicle can change its flight path and carry out avoiding obstacles.
In other embodiments, described unmanned vehicle 310 is attempted to drop on delivery vehicle 320.Described delivery vehicle can be in running.In certain embodiments, when described unmanned vehicle is attempted to drop on described delivery vehicle, described delivery vehicle can in running status.The movement velocity of described delivery vehicle is V
vEHICLE.Described unmanned vehicle has for dropping to flight path on described delivery vehicle or flight path.The flight path of described unmanned vehicle or flight path can be consistent or inconsistent with the operating path of delivery vehicle or running orbit.Such as, the movement locus of described unmanned vehicle and delivery vehicle also can be identical strip path curve.Whether the flight path that described unmanned vehicle and/or motion delivery vehicle can detect described unmanned vehicle there is barrier 330.When having barrier in the flight path of described unmanned vehicle, described unmanned vehicle then carrys out avoiding obstacles in change of flight path.Such as, described unmanned vehicle reduces highly carry out avoiding obstacles and drop on described delivery vehicle.But, if when the flight path of described unmanned vehicle having barrier, described unmanned vehicle also hoisting depth can carry out avoiding obstacles.Described unmanned vehicle can along new flight path (such as along V
uAVdirection) carry out avoiding obstacles.
In certain embodiments, described unmanned vehicle and/or described delivery vehicle can detect the barrier on described delivery vehicle running orbit, or detect the barrier on the side by side tracks of described unmanned vehicle and described delivery vehicle.In the same manner, described unmanned vehicle also can change path and carrys out avoiding obstacles.Flight path or flight path can have any shape.In certain embodiments, flight path or flight path can be straight line (such as, from described unmanned vehicles and/or person from the straight line of the extension in described delivery vehicle front), also can be curves, or the path of other any shape.
Barrier 330 can be any object on described unmanned vehicle flight path.If unmanned vehicle does not have avoiding obstacles, unmanned vehicle then can collide with barrier and damage.Described barrier can be may also be static barrier dynamically.Static-obstacle thing keeps static, and dynamic barrier is motion.Such as, static-obstacle thing can include but not limited to, the vehicle of building, signboard, electric pole, bridge, tunnel, control tower, ceiling, roof, electric wire, tree, hedge, plant, light source, stopping or the static-obstacle thing of any type.Described dynamic barrier can include but not limited to, the barrier in other unmanned vehicle, loose impediment (vehicle such as travelled), people, animal, kite or other motion.For the dynamic barrier in flight path or flight path, described unmanned vehicle flight judges whether to collide after assessing.
Described barrier can by described unmanned vehicle, described delivery vehicle or other object detecting out.Described unmanned vehicle, delivery vehicle or other object can carry out communicating and sharing the obstacle information detected.Such as, at least one sensor of unmanned vehicle may be used for obstruction detection, and thus unmanned vehicle can carry out avoiding obstacles in change of flight path.In other embodiments, at least one sensor volume of described delivery vehicle may be used for obstruction detection, described delivery vehicle will detect obstacle information and be sent on described unmanned vehicle, and thus described unmanned vehicle can carry out avoiding obstacles in change of flight path.Described delivery vehicle can send instructions to described unmanned vehicle and make described unmanned vehicle change of flight path.In other embodiments, the information detecting barrier is sent on unmanned vehicle by described delivery vehicle, and described unmanned vehicle judges whether change of flight path and/or how change of flight path.The obstacle information that described unmanned vehicle can only detect according to described delivery vehicle, or the obstacle information detected in conjunction with described delivery vehicle or in conjunction with other object detecting to obstacle information carry out disturbance in judgement thing information.In other embodiments, other object, such as barrier itself, also can provide signal designation to there is barrier herein.
The sensor being used for sensing barrier comprises the sensor of vision sensor, heat sensor, ultrasonic sensor, laser radar, GPS, radar, shock sensor, electromagnetic sensor and other any type, also can be combinationally using of any the sensor.The signal designation of instruction barrier comprises the signal of light, color, image, word, sound, vibrations, field signal, electric field signal, heat energy signal, wireless signal or other any type.
In certain embodiments, barrier can be determined according to the environmental information (such as geography information) of unmanned vehicle and/or the known surrounding of delivery vehicle.Described geography information comprises cartographic information.Such as comprise map data information, about the cartographic information of local building or the static-obstacle thing information of other type.If tunnel and described unmanned vehicle and/or described delivery vehicle are known relative to described tunnel, then judge to determine whether this tunnel is the barrier that described unmanned vehicle drops to described delivery vehicle process.
The method that unmanned vehicle drops to the supporting delivery vehicle of movement comprises: produce one for drive described unmanned vehicle the command signal of at least one power unit, control described unmanned vehicle and move relative to the position of delivery vehicle.Described unmanned vehicle can fly along the track of the supporting delivery vehicle of movement.Barrier in flight path can be detected, and described unmanned vehicle can carry out avoiding obstacles by change of flight track.
The flight path changing unmanned vehicle can have been come by a set of programmed instruction pre-set.Such as, calculating one can the new running orbit of avoiding obstacles, but described unmanned vehicle still can be kept with the identical direction flight of the direction of motion of described delivery vehicle.In one embodiment, the height changing described unmanned vehicle can avoiding obstacles and simultaneously transverse path and/or speed can also be made can to keep identical with the transverse path of the motion of described delivery vehicle and/or speed.In other embodiments, be necessary to change transverse path to avoid barrier.The change of track can make the flight of described unmanned vehicle interrupt a little, but still can avoiding obstacles.Once barrier is eliminated, described unmanned vehicle just can drop on described delivery vehicle.Such as, if described unmanned vehicle increases flying height avoid tunnel, once described tunnel removed by described delivery vehicle and described unmanned vehicle, described unmanned vehicle just can drop on described delivery vehicle.
Between described unmanned vehicle and described delivery vehicle, initiated a landing command sequence, described unmanned vehicle will drop on delivery vehicle automatically without the need to Artificial Control.Such as, user selects a button for making described unmanned vehicle drop to described delivery vehicle, then Lookup protocol landing command sequence will occur, and described unmanned vehicle just can drop on described delivery vehicle automatically.Described avoiding obstacles also can occur automatically.In certain embodiments, user can control described unmanned vehicle and drops on described delivery vehicle.In the process that described unmanned vehicle lands, user also can use remote controllers to carry out unmanned vehicle described in Artificial Control.User can be the operating personnel of described delivery vehicle, the passenger of described delivery vehicle or other people.User can unmanned vehicle avoiding obstacles described in Artificial Control, and/or control avoiding obstacles taken over by unmanned vehicle described in person.
Consulting shown in Fig. 4, is that the embodiment of the present invention sets forth the schematic diagram realizing avoiding obstacles when described unmanned vehicle will take off from described delivery vehicle.Such as, described unmanned vehicle 410 is attempted to take off from described delivery vehicle 420.The flight path flying away from described delivery vehicle at described unmanned vehicle may there is barrier 430.Described unmanned vehicle can postpone to take off until described obstacle is eliminated, or can carry out avoiding obstacles by change of flight track.
In one embodiment, described unmanned vehicle 410 is attempted to take off from described delivery vehicle 420.Described delivery vehicle can be in motion process.In other embodiments, when described unmanned vehicle is attempted to take off from described delivery vehicle, described delivery vehicle now can in mobile status.The speed that described delivery vehicle runs is V
vEHICLE.Described unmanned vehicle takes off from described delivery vehicle according to flight path or flight path.Whether the flight path that described unmanned vehicle and/or described delivery vehicle can detect described unmanned vehicle there is barrier 430.When the flight path or flight path of described unmanned flight there being barrier, described unmanned vehicle is then waited for and being taken off until barrier is eliminated.In other embodiments, described unmanned vehicle has taken off or has been about to take off, then avoiding obstacles is carried out in change of flight path.Such as, described unmanned vehicle promotes the height that takes off.But if flight path has barrier, described unmanned vehicle can increase, keeps or reduce flying height fast and carry out avoiding obstacles.If described unmanned vehicle does not take off, described unmanned vehicle can remain on described delivery vehicle.If described unmanned vehicle takes off, described unmanned vehicle can return and drop on described delivery vehicle until barrier is eliminated.Described unmanned vehicle can along new flight path (such as along V
uAVdirection) carry out avoiding obstacles.
Barrier 430 can be any object on the predetermined flight path of described unmanned vehicle.Barrier can be described unmanned vehicle any object damaging described unmanned vehicle after colliding with described barrier.As previously mentioned, barrier can be that static barrier may also be dynamic barrier.Such as, described static-obstacle thing keeps static, and described dynamic barrier is motion.For the dynamic barrier of described flight path or flight path, whether described unmanned vehicle can carry out assessing rear judgement and can collide along described dynamic barrier when predetermined flight path or flight path flight and between described unmanned vehicle.Wherein, the situation of movement of described delivery vehicle also needs to take into account.Such as, when described unmanned vehicle moves along with delivery vehicle, now described unmanned vehicle takes off from delivery vehicle, needs to consider that the situation of movement of described delivery vehicle is to determine the flight path of described unmanned vehicle.
Described barrier can by unmanned vehicle, delivery vehicle or other object detecting out.Described unmanned vehicle, delivery vehicle or other object can carry out communicating and sharing the obstacle information detected.Such as, at least one sensor of described unmanned vehicle may be used for obstruction detection, and thus described unmanned vehicle can change of flight path or waited for sudden avoiding obstacles.In other embodiments, at least one sensor of described delivery vehicle may be used for obstruction detection, described delivery vehicle will detect obstacle information and be sent on described unmanned vehicle, and thus described unmanned vehicle can change of flight path or waited for sudden avoiding obstacles.Described delivery vehicle can send instructions to unmanned vehicle makes unmanned vehicle change of flight path or wait take off.In other embodiments, described delivery vehicle will detect obstacle information and be sent on described unmanned vehicle, and described unmanned vehicle judges whether that change of flight path and/or person wait for and takes off.The obstacle information that described unmanned vehicle can only detect according to described delivery vehicle, or the obstacle information detected in conjunction with described delivery vehicle or in conjunction with other object detecting to obstacle information carry out disturbance in judgement thing information.In other embodiments, other object, such as barrier itself, also can provide signal designation to there is barrier herein.
In certain embodiments, barrier can be determined according to the environmental information (such as geography information) of unmanned vehicle and/or the known surrounding of delivery vehicle.Described geography information comprises cartographic information.Such as comprise map data information, about the cartographic information of local building or the static-obstacle thing information of other type.If tunnel and described unmanned vehicle and/or described delivery vehicle are known relative to described tunnel, then judge to determine whether this tunnel is the barrier that described unmanned vehicle drops to described delivery vehicle process.
The method that described unmanned vehicle takes off from the supporting delivery vehicle of movement comprises: producing one for driving the command signal of at least one power unit of unmanned vehicle, controlling unmanned vehicle and moving relative to the position of movably supporting delivery vehicle.Described unmanned vehicle can fly along identical with the supporting delivery vehicle of movement track.Barrier in described flight path can be detected, and described unmanned vehicle change of flight track carrys out avoiding obstacles, and unmanned vehicle still rests on delivery vehicle, or returns and drop on described delivery vehicle.The flight path changing described unmanned vehicle comprises unmanned vehicle and still rests on described delivery vehicle, or returns and drop on described delivery vehicle.
The flight path changing described unmanned vehicle can have been come by a set of programmed instruction pre-set.Such as, calculate one can the new running orbit of avoiding obstacles with change of flight track and can avoiding obstacles, but unmanned vehicle and delivery vehicle still can be kept with equidirectional flight and described unmanned vehicle still rests on described delivery vehicle.In the present embodiment, the height changing unmanned vehicle can avoiding obstacles and simultaneously can also keep the flight in direction identical with delivery vehicle, however transverse path and or the maintenance of/speed be substantially consistent with described delivery vehicle with consistent with the movement of described delivery vehicle.In other embodiments, change transverse path and avoid barrier.The change of track can change a little described unmanned vehicle flight but still can avoiding obstacles.Once barrier is eliminated, described unmanned vehicle just can responder instruction or user control to take off and/or free flight from delivery vehicle.Such as, if unmanned vehicle reduces flying height avoid a greatly tree, once fly over described large tree, promoting flying height, goes to execute the task in unmanned vehicle appointed place of just can flying.
Between described unmanned vehicle and described delivery vehicle, initiated a command sequence of taking off, described unmanned vehicle will to take off and without the need to Artificial Control from delivery vehicle automatically.Such as, user selects an option taken off from delivery vehicle for described unmanned vehicle, then can the Lookup protocol departure time.Described unmanned vehicle just can from automatic takeoff delivery vehicle, and can avoiding obstacles automatically.Such as, at unmanned vehicle from take-off process delivery vehicle, user also can use remote controllers to carry out Artificial Control unmanned vehicle and take off.User can be the operating personnel of delivery vehicle, the passenger of delivery vehicle or other people.User can Artificial Control unmanned vehicle avoiding obstacles, and/or person's unmanned vehicle independent ground avoiding obstacles.
Also can avoiding obstacles in unmanned vehicle flight course.When unmanned vehicle takes off from delivery vehicle, when dropping on delivery vehicle, and can avoiding obstacles in any time of flight.Such as, unmanned vehicle flies relative to the flight path of delivery vehicle, can avoiding obstacles.Unmanned vehicle directly responds the teleinstruction from user and flies along flight path.Unmanned vehicle can fly according to predetermined flight path by delivery vehicle relatively.
The predetermined flight path of unmanned vehicle can be determined, it comprises the flight path that drops to delivery vehicle foregoing or from delivery vehicle departure paths.As previously mentioned, predetermined flight path also comprises unmanned vehicle relative to the flight path of delivery vehicle, directly at the path of delivery vehicle front flight and the flight path relative to delivery vehicle front certain distance.When detecting barrier on the flight path of described unmanned vehicle, unmanned vehicle will respond and change of flight path.Unmanned vehicle carrys out avoiding obstacles by change latitude and/or longitude.The processor of unmanned vehicle can determine that heading and/or speed carry out avoiding obstacles.Once barrier is avoided, unmanned vehicle will turn back to originally predetermined flight path or flight path.
Consulting shown in Fig. 5, is that the embodiment of the present invention sets forth the schematic diagram be mechanically connected between unmanned vehicle and delivery vehicle.Unmanned vehicle 510 can rest in delivery vehicle 520.The anchor point of unmanned vehicle 530 can form one with the stop website of delivery vehicle 540 and be connected.
Described unmanned vehicle 510 can be accommodated on a supporting delivery vehicle 520.Described delivery vehicle 520 can be the delivery vehicle of any model.Described supporting delivery vehicle 520 can move.Described supporting delivery vehicle can do the motion of self-drive type.In other embodiments, described supporting delivery vehicle can in the upper motion of one or more media (such as, land, waterborne, aerial, space).When described delivery vehicle startup or closed condition, described unmanned vehicle can be stopped on described supporting delivery vehicle.When delivery vehicle is kept in motion, described unmanned vehicle also can be stopped on supporting delivery vehicle.No matter described supporting delivery vehicle remain static or motion state time, unmanned vehicle can be stopped on described supporting delivery vehicle.When running with any speed regardless of described supporting delivery vehicle, unmanned vehicle also can be stopped on delivery vehicle.When delivery vehicle is with linear running, turning or when rotating at any angle, unmanned vehicle can be stopped on delivery vehicle.Under the environment having wind, unmanned vehicle also can be stopped on delivery vehicle.Such as, wind speed is 5 miles per hour, 10 miles, 15 miles, 20 miles, 25 miles, 30 miles, 35 miles, 40 miles, 45 miles, 50 miles, 55 miles, 60 miles, 65 miles, 70 miles, 80 miles, 90 miles or 100 miles.
Described unmanned vehicle 510 can be accommodated on any one position of described supporting delivery vehicle 520.Such as, described unmanned vehicle can rest in top surface, anterior face, tail surface, side surface, the interior location of delivery vehicle or attach on parts.Described unmanned vehicle can be stopped to the ceiling of delivery vehicle, interior compartment, connecting rod or above on barge board.Described unmanned vehicle can drop in the car cabinet that described delivery vehicle carries or on the dolly depended on.On the inside that described unmanned vehicle can rest in delivery vehicle or outer surface.
When described unmanned vehicle is stopped to delivery vehicle, unmanned vehicle 510 can form one with described supporting delivery vehicle 520 and be connected, and this connection can be mechanical connection.When delivery vehicle runs, this mechanical connection can make unmanned vehicle be attached to all the time on delivery vehicle.This connection can limit unmanned vehicle and move at least one direction.Such as, mechanical connection can prevent unmanned vehicle from moving forward and backward relative to delivery vehicle, to move left and right and/or person moves up and down.Selectively, this connection can allow unmanned vehicle to move at least one direction, and unmanned vehicle also can be allowed to rotate with at least one axle.
The attaching parts 540 of the attaching parts 530 of unmanned vehicle and the docking station of delivery vehicle can form a mechanical connection.The attaching parts of described unmanned vehicle can be the lower surface of unmanned vehicle.In certain embodiments, described unmanned vehicle attaching parts can be expansion, such as, the position that lands of unmanned vehicle.When unmanned vehicle lands, described in the position that lands can support the weight of described unmanned vehicle when described unmanned vehicle does not fly.In certain embodiments, the connecting portion of unmanned vehicle can be the surface, cabin of unmanned vehicle, such as bottom surface, side or end face.In other embodiments, cabin body itself can be the part connected.The outstanding position of unmanned vehicle, recessed position or other any position can form connection.The removable position (such as indentation or extending area) of described unmanned vehicle can form connection.In the present embodiment, when described unmanned vehicle flight, the coupling part of described unmanned vehicle can be in indentation state, and is in extension state to form connection when the anchor point to delivery vehicle stopped by unmanned vehicle.
The attaching parts 540 of described delivery vehicle are formed with the attaching parts 530 of unmanned vehicle and are mechanically connected.Direct physical connection can be mutually formed between parts and parts.The attaching parts of delivery vehicle can be stretched from delivery vehicle, also can shrink into, or a part for vehicle surfaces.In other embodiments, the attaching parts of delivery vehicle can be shunk and can be extended.Such as, when unmanned vehicle leaves delivery vehicle, the attaching parts of delivery vehicle are in retracted mode; When unmanned vehicle drops on delivery vehicle, the attaching parts of delivery vehicle are in extension state.
In certain embodiments, the attaching parts of described unmanned vehicle and described delivery vehicle can internal lock.In certain embodiments, the subelement of unmanned vehicle can grasp or around another part element of unmanned vehicle, vice versa.In certain embodiments, the pliers of described delivery vehicle or cover can grasp described unmanned vehicle, or the pliers of described unmanned vehicle or cover can grasp a part for described delivery vehicle.In certain embodiments, a manipulator is formed at least one Connection Element described.Described manipulator can prevent described unmanned vehicle from moving relative to described delivery vehicle.In other embodiments, belt, hook or torsion circle fastener are owing to fastening attaching parts.Preferably, latch or male/female element interface also can be used for the connection between unmanned vehicle and delivery vehicle.
In the present embodiment, the stop design of delivery vehicle can comprise a Y shape and falls the attaching parts 540 of chamber as delivery vehicle.Y shape fall chamber be not easy distortion and more easily make unmanned vehicle land.In certain embodiments, Y shape falls attaching parts 530 that chamber can contribute to described unmanned vehicle and inserts Y shape shape and fall the center in chamber or bottom section.It can be top be pyramid type or top be other any shape that described Y shape shape falls chamber.The attaching parts of described delivery vehicle comprise guide part, and it can help unmanned vehicle to be connected directly to predetermined tie point.Gravity also can direct unmanned vehicle described in supplemental pilot.Such as, when described unmanned vehicle hits described guide part, the rotor power-off of described unmanned vehicle is to make the Gravity support of described unmanned vehicle on described guide part, and therefore guide part causes described unmanned vehicle landing on the predetermined strong point.Delivery vehicle be fixed/be locked to described unmanned vehicle can subsequently.Described unmanned vehicle and described delivery vehicle are fixed and are locked together by attaching parts.
In certain embodiments, electromagnetic force also can provide connection, in certain embodiments, can form magnetic and connect between described unmanned vehicle and described delivery vehicle.In certain embodiments, using magnetic to connect does not need extra mechanism part (such as previously described grip characteristics or other characteristics etc.) just unmanned vehicle can be connected on delivery vehicle.In other embodiments, described magnetic connects can need foregoing mechanism part to be connected on described delivery vehicle to make described unmanned vehicle.
When described unmanned vehicle drops on delivery vehicle, between described unmanned vehicle and described delivery vehicle, just automatically form connection.Whole connection procedure does not need any manual operation of vehicle operation personnel, does not need the personnel of vehicle interior or outside to carry out any manual operation yet.
The bus stop to described delivery vehicle stopped by described unmanned vehicle.This bus stop can be that delivery vehicle is for connecting any one parts of described unmanned vehicle.Described bus stop can provide the mechanical connection between delivery vehicle and unmanned vehicle.This bus stop can form an entirety with delivery vehicle, and can not move or be separated.Such as, described bus stop can be a part for vehicle surfaces.Preferably, bus stop can be a part for the body panels of delivery vehicle, can be the ceiling of delivery vehicle.Described bus stop can comprise at least one for connecting the connector of described unmanned vehicle.Described bus stop can comprise at least one for connecting the electrical cnnector of described unmanned vehicle.Described bus stop can comprise one for covering in the shade of unmanned vehicle at least partly.
Described bus stop can be integrated on delivery vehicle, also can be attached on delivery vehicle by bus stop in processing factory.Described bus stop can be produced independent of delivery vehicle.In certain embodiments, delivery vehicle can renovate processing together with bus stop, and the element of at least one bus stop is attached on delivery vehicle, and cannot remove.
In some optional embodiments, bus stop can disassemble from delivery vehicle.Bus stop adds removably or is connected on delivery vehicle.In certain embodiments, at least one connector makes bus stop be fixed on delivery vehicle.Described connector can disassemble from the bus stop of delivery vehicle.In other embodiments, pliers, belt, clip, hook and snap ring, magnetic part, lock, groove, wire casing, mechanical fastener, thumb pin pressing all can be used for bus stop to be fixed on delivery vehicle.When not using bus stop, bus stop can be disassembled from delivery vehicle.In other embodiments, user oneself steering vehicle, only takes away use by bus stop together with unmanned vehicle.
As previously mentioned, described bus stop can be attached to any one part of delivery vehicle, such as, and the ceiling of delivery vehicle.Bus stop can be attached to the ceiling of delivery vehicle.Bus stop can be attached to the ceiling of delivery vehicle and/or disassemble from the ceiling of delivery vehicle.Preferably, bus stop can be formed as a part for the ceiling of delivery vehicle, and/or comprises the ceiling of described delivery vehicle.Described bus stop can comprise base, and it for unmanned vehicle landing on the base, also can make described unmanned vehicle take off from this base.
The description of any relevant with the described unmanned vehicle part of described delivery vehicle is all correlated with the bus stop of unmanned vehicle.Anchor point can be permanently affixed on delivery vehicle, also can unload from delivery vehicle.Such as, the mechanism connector between unmanned vehicle and delivery vehicle can be included in bus stop.Electrical cnnector between unmanned vehicle and delivery vehicle can be included in bus stop.Data connector between unmanned vehicle and delivery vehicle can be included in bus stop.The controller performing the calculating operation relevant to unmanned vehicle and/or delivery vehicle is also contained in bus stop.Help the mark of the different delivery vehicle of unmanned vehicle identification also can be included in bus stop.Communication unit, such as wireless communication unit also can be included in bus stop.Shade portion also can be included in bus stop.Any functional part about delivery vehicle of the present invention can be applicable to the bus stop of delivery vehicle.
Preferably, the part of the delivery vehicle that any and described unmanned vehicle is relevant goes for the other parts of described delivery vehicle, and these other parts need not be a part for described bus stop.
Described delivery vehicle can allow single unmanned vehicle drop on delivery vehicle.Preferably, described delivery vehicle can allow multiple unmanned vehicle be accommodated on delivery vehicle.Described multiple unmanned vehicle can rest on delivery vehicle simultaneously.In certain embodiments, single bus stop can allow the parallel stop of multiple unmanned vehicle.In other embodiments, multiple bus stop is provided on delivery vehicle, allows multiple unmanned vehicle to rest on described delivery vehicle.When multiple unmanned vehicle is stopped extremely on delivery vehicle, multiple unmanned vehicle can form multiple mechanism and/or electrical connection with delivery vehicle.Multiple unmanned vehicle can take off from delivery vehicle simultaneously, also can drop on delivery vehicle simultaneously, or with dispersion or continuous print mode drop on delivery vehicle.
The unmanned vehicle of same model can rest in a delivery vehicle.Such as, all unmanned vehicles (at least one) have identical configuration.
In other embodiments, the unmanned vehicle of Multiple Type can rest on a delivery vehicle.The unmanned vehicle of described Multiple Type can rest on delivery vehicle one at a time, also can rest on delivery vehicle simultaneously.The unmanned vehicle of Multiple Type has different profiles, shape and/or size.The unmanned vehicle of Multiple Type has different flying powers and/or battery life.The unmanned vehicle of Multiple Type has different power unit configurations.The unmanned vehicle of Multiple Type has identical or different connecting interface.In certain embodiments, the unmanned vehicle of Multiple Type has identical connecting interface.In other example, the unmanned vehicle of Multiple Type has different connecting interfaces.In other embodiments, the connecting interface on delivery vehicle can regulate, thus connects from the different connecting interfaces on delivery vehicle.In other embodiments, described delivery vehicle can synchronously know with the unmanned vehicle of Multiple Type the described unmanned type without row device dropped on described delivery vehicle.When the delivery vehicle of a specific model needs to land close to described delivery vehicle, described delivery vehicle can keep or regulate connecting interface to be connected on delivery vehicle by unmanned vehicle.When the unmanned vehicle of different model needs to land close to described delivery vehicle, the unmanned vehicle of different model can be connected on delivery vehicle by delivery vehicle as required.The adjustment of connecting interface comprises the size or position that change connecting interface parts, and changes and use the connecting interface of different model.
In certain embodiments, described delivery vehicle can simultaneously landing one, two, three, four, five, six, seven, eight, nine, ten or more unmanned vehicles.Described unmanned vehicle can be the unmanned vehicle of same model or different model.
Consulting shown in Fig. 6, is that the embodiment of the present invention sets forth unmanned vehicle and the schematic diagram be connected functional between delivery vehicle.Unmanned vehicle 610 can rest on delivery vehicle 620.Described unmanned vehicle comprises one, two, three, four, five, six, seven, eight, nine, ten or more and stops parts 630,640.Described delivery vehicle comprises one, two, three, four, five, six, seven, eight, nine, ten or more the stop parts 650,660,670 be arranged on described delivery vehicle, and it can carry out with unmanned vehicle alternately.Formed between multiple stop parts of unmanned vehicle and multiple stop parts of delivery vehicle and be connected 680.
When unmanned vehicle 610 drops on delivery vehicle 620, unmanned vehicle 610 can be accommodated on delivery vehicle 620.Delivery vehicle can support the weight of unmanned vehicle.When unmanned vehicle drops on delivery vehicle, between unmanned vehicle with delivery vehicle, formation mechanism is connected.Delivery vehicle comprises one for stopping the bus stop of unmanned vehicle.Preferably, unmanned vehicle can drop to any position of delivery vehicle.Form electrical connection 680 between unmanned vehicle and delivery vehicle, this electrical connection can be that induction connects, and also can be wired connection.One conducting element of unmanned vehicle can be connected with a conducting element of delivery vehicle.Described connection can be that can make can to carry out between unmanned vehicle with delivery vehicle to communicate any is connected.In other embodiments, or described connection comprises the connector of optical conenctor, wireless connector, other any type of wired connector.In certain embodiments, the connector of multiple connector and/or Multiple Type can be applied between unmanned vehicle and delivery vehicle.Described multiple connector comprises the physical connector of Multiple Type.
Such as, the bus stop of delivery vehicle comprises at least one built-in attaching parts, and the attaching parts of described delivery vehicle are used for when unmanned vehicle drop to bus stop, are connected at least one corresponding attaching parts of unmanned vehicle.Unmanned vehicle drops to a direction of specifying or multiple directions on the bus stop of specifying.In other embodiments, bus stop can provide at least one guiding part, for unmanned vehicle is directed to required direction.Described guiding part can be physical unit, drops to bus stop for guiding unmanned vehicle with at least one assigned direction.Preferably, described guiding part can be mechanical connection, electrical connection and/or person's communication connection.
Described unmanned vehicle comprise one, two, three, four, five, six, seven, eight, nine, ten or more be arranged on described in state attaching parts 630,640 on unmanned vehicle.Such as, described parts include but not limited to, controller, data storage cell, communication unit, energy storage units, sensor, load equipment, power unit and/or other any parts.Any parts that the present invention describes all can be integrated on unmanned vehicle.
Described delivery vehicle comprise one, two, three, four, five, six, seven, eight, nine, ten or more parts be arranged on described in state on delivery vehicle and for being connected 650,660,670 alternately with described unmanned vehicle.Such as, described parts include but not limited to, controller, data storage cell, communication unit, energy storage units, sensor, load equipment, power unit and/or other any parts.Any parts that the present invention describes all can be integrated on delivery vehicle.
In one embodiment, described unmanned vehicle can have one to be arranged at energy storage units on described unmanned vehicle, and described delivery vehicle can have an energy storage units be arranged on described delivery vehicle.Described energy storage units comprises at least one battery.In other embodiments, energy storage units can be battery pack.This battery pack comprises at least one battery, each battery can walk abreast, serial or and both combinations connect.The energy storage units of unmanned vehicle can provide kinetic energy at least one parts of unmanned vehicle.The energy storage units of delivery vehicle can provide kinetic energy at least one parts of delivery vehicle.Such as, the energy storage units of unmanned vehicle may be used for the radio of luminescence, electric door lock, motorized window and/or delivery vehicle.In other embodiments, the ability memory cell of delivery vehicle is the battery of delivery vehicle.In other example, the energy storage units of delivery vehicle can be the battery pack on delivery vehicle.
Any energy storage units can be at least one battery, and battery is any chemical cell used at present or the battery that may use future.In other embodiments, battery can be lead-acid battery, valve regulation lead-acid battery (such as, gel batteries, imbibition glass partition formula battery) nickel chromium triangle (NiCd) battery, nickel zinc (NiZn) battery, nickel cyanide battery (NiMH), lithium battery (Li-ion) etc.Battery battery core can with parallel, serial or and both combinations connect.Battery battery core combines and forms single battery unit or multiple battery unit.Battery can be rechargeable battery.
When unmanned vehicle is in flight course, the energy storage units of unmanned vehicle carries out discharging for unmanned vehicle provides kinetic energy.When unmanned vehicle rests on delivery vehicle, the energy storage units of unmanned vehicle and the energy storage units of delivery vehicle can form connection.The energy storage units of described delivery vehicle can charge to the energy storage units of unmanned vehicle.When unmanned vehicle drops on delivery vehicle, the charged state of the energy storage units of estimation unmanned vehicle.When the charged state of the energy storage units of unmanned vehicle is lower than a threshold value, delivery vehicle charges to unmanned vehicle.When described unmanned vehicle electricity is not full of, described delivery vehicle charges to described unmanned vehicle.In other embodiments, without stoichiometric memory cell charged state how, delivery vehicle can charge to the energy storage units of unmanned vehicle automatically.When delivery vehicle is in mobile status, also can charge to the energy storage units of delivery vehicle.Can be charged by the connection between unmanned vehicle and delivery vehicle.In other embodiments, also can the mode of use sense inductive charging.Therefore, advantage of the present invention all can be charged when no matter being delivery vehicle operation or when described unmanned vehicle drops on delivery vehicle.So, when vehicle motion, unmanned vehicle can be allowed to realize repeatedly taking off from described apparatus of transport.
After the energy storage units of unmanned vehicle is full of electricity, unmanned vehicle can fly for a long time.Such as, the flight time of unmanned vehicle can be more than or equal to 10 hours, 9 hours, 8 hours, 7 hours, 6 hours, 5 hours, 4 hours, 3.5 hours, 3 hours, 2.5 hours, 2 hours, 1.5 hours, 1 hour, 55 minutes, 50 minutes, 45 minutes, 40 minutes, 35 minutes, 30 minutes, 25 minutes, 20 minutes, 15 minutes, 10 minutes, 5 minutes, 3 minutes or 1 minute.Preferably, the flight time of unmanned vehicle can be less than or equal to any one value above-mentioned, or in the scope between above-mentioned any two values.The described flight time can only for performing flight function.In the process of unmanned vehicle flight, unmanned vehicle can transmit image data or any data that other is gathered by load equipment or sensor.
Delivery vehicle can complete charging soon, such as, described delivery vehicle from complete discharge condition to the charging interval of complete full state can be 8 hours, 7 hours, 6 hours, 5 hours, 4.5 hours, 4 hours, 3.5 hours, 3 hours, 2.5 hours, 2 hours, 1.5 hours, 1 hour, 45 minutes, 30 minutes, 20 minutes, 15 minutes, 12 minutes, 10 minutes, 8 minutes, 7 minutes, 6 minutes, 5 minutes, 4 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds or 10 seconds kinds.Preferably, the charging interval of delivery vehicle can be greater than any one time above-mentioned, also can be in the scope then between above-mentioned any two values.Charging interval can be less than the flight time, also can be more than or equal to the flight time.Ratio about 10:1,8:1,6:1,5:1,4:1,3:1,2:1,1:1,1:2,1:3,1:4,1:5,1:6,1:8 or 1:10 of charging interval and flight time.
Described delivery vehicle can charge to unmanned vehicle at any voltage and/or electric current.In certain embodiments, the charging voltage of the energy storage units of unmanned vehicle corresponds to the charging voltage of vehicle battery.If delivery vehicle uses the battery of 12V, the charging voltage of unmanned vehicle is also 12V.In other embodiments, the charging voltage of unmanned vehicle can be 1V, 3V, 5V, 7V, 10V, 12V, 14V, 16V, 18V, 20V, 24V, 30V, 36V, 42V or 48V.
In other embodiments, the energy storage units of unmanned vehicle can be a kind of battery pack of available dismounting.In certain embodiments, the bus stop of delivery vehicle can have and automatically replaces battery pack and without the need to manual intervention.Mechanical arm or miscellaneous equipment may be used for changing power brick.
Described delivery vehicle can have at least one and be arranged at battery pack on described delivery vehicle, and can charge.In other embodiments, when delivery vehicle is in mode of operation and/or motion, the battery of delivery vehicle can charge to the battery pack of unmanned vehicle.In other embodiments, regenerative resource may be used for charging to the electromagnetism group of unmanned vehicle, and such as, solar energy may be used for the described battery pack charging for described unmanned vehicle.Regenerative resource is as other place describes in more detail herein.
The battery replacing of unmanned vehicle can be the battery being full of electricity condition or being partly full of electricity condition when exhausting battery.In other embodiments, when unmanned vehicle is accommodated on described delivery vehicle, the charged state of unmanned vehicle can estimate.In other embodiments, can judge according to charged state the battery whether battery of unmanned vehicle can again charge or more renew.In other embodiments, the state of new battery also can be assessed.
Described unmanned vehicle comprises data storage cell, and it comprises at least one memory cell, computer-readable medium.Data storage cell can comprise at least one memory cell, and memory cell can comprise and include code, and logic OR instruction is to perform the non-transitory computer-readable medium of at least one action.Described data storage cell is the data that described unmanned vehicle provides.Useful data comprise cartographic information and/or the rule relevant with at least one position.In unmanned vehicle flight course, the data of data storage cell can real-time update.The data storage cell of unmanned vehicle can carry out upgrading or responding an event and upgrade constantly, termly.Such as, energy state and/or flight time is upgraded.In certain embodiments, when described unmanned vehicle is stopped to described delivery vehicle, the data storage cell of unmanned vehicle can be updated.Such as, in order to economize energy and/or flight time, when the flight of described unmanned vehicle, new data can not be sent to described unmanned vehicle, only concerning vital data the operation of described unmanned vehicle.In certain embodiments, the data storage cell of unmanned vehicle and the data storage cell of delivery vehicle carry out wire transmission.Such as, connecting 680 can make the data storage cell of unmanned vehicle and the data storage cell of delivery vehicle transmit.So can speeding up data transmission.The data storage cell of delivery vehicle also can upgrade constantly, termly or responds an event and upgrade.The data storage cell of described delivery vehicle can pass through wireless more new data, or a response event and upgrade data storage cell and as a part for bus stop, or can be integrated on delivery vehicle.
Data in data storage cell can by the controller access of unmanned vehicle.Controller can control the flight of unmanned vehicle.When unmanned vehicle is in automatic offline mode, controller can control the operation of unmanned vehicle by sending command signal.When unmanned vehicle is in remote handle control model, controller can receive the signal from remote controllers, and produces based on the signal being received from remote controllers the power unit that command signal controls unmanned vehicle.
In other embodiments, described unmanned vehicle can send data to delivery vehicle.Such as, the data of load equipment or sensor collection can be sent on described delivery vehicle.Described load equipment can be image acquisition equipment, such as video camera, and it can send view data on delivery vehicle.Described view data can send in real time.In certain embodiments, all data can be sent to described delivery vehicle in real time.In other embodiments, partial data or the lower data of some resolution ratio can be sent on delivery vehicle in real time.When unmanned vehicle rests on delivery vehicle, remaining data is just supplied to described delivery vehicle.The data of data storage cell are sent to the data storage cell of delivery vehicle by described unmanned vehicle by connection 680.
In other embodiments, two-way communication can be provided between unmanned vehicle and delivery vehicle.Described two-way communication can use when in unmanned vehicle flight course and/or unmanned vehicle is accommodated on delivery vehicle.Described unmanned vehicle and delivery vehicle all can have a communication interface.Communication between described unmanned vehicle and described delivery vehicle can be undertaken by this communication interface.When unmanned vehicle and delivery vehicle link together, between unmanned vehicle and delivery vehicle, carry out wire communication.In certain embodiments, the communication interface of multiple different model is supplied to unmanned vehicle and/or delivery vehicle carries out dissimilar communication different when.
When unmanned vehicle is accommodated to delivery vehicle, energy and or/data transmission can be carried out.By physical connection transmitting energy and/data rapidly between the unmanned vehicle stopped and delivery vehicle.Energy and the/transmission of data can be unidirectional (such as, transfer to unmanned vehicle from delivery vehicle, also can transfer to delivery vehicle from unmanned vehicle) or two-way.
Consulting shown in Fig. 7, is the schematic diagram that the embodiment of the present invention sets forth that unmanned vehicle drops to the accommodation apparatus in delivery vehicle.Unmanned vehicle 710 can be stopped on delivery vehicle 720.Described delivery vehicle comprises a bus stop, and it is stopped to delivery vehicle 720 for unmanned vehicle 710.Described bus stop comprises a shade 730, and it can cover in described unmanned vehicle at least partially.This shade completely or partially can hide and surround described unmanned vehicle.
Described shade 730 can have any shape and size size.In certain embodiments, shade can be circular beanpod shape, also can be cover shape.Such as, shade is hemispherical or half elliptic.Shade does not have angle, fillet or sharp corner.In other embodiments, described shade is cylindrical or semi-cylindrical, prismatic shape, hemispherical or other any suitable shape.In certain embodiments, shade is designed to air force push type.Described shade is designed to the shade that can reduce resistance when described vehicle motion.Described shade is designed to reduce the shade even not using lift when described vehicle motion.Compared with not having the delivery vehicle of described shade, described shade can reduce lift and or/resistance.When delivery vehicle runs, described shade is designed to can to provide when vehicle motion a downward power.In other embodiments, the described shade effect that provides one to be similar to the spoiler of delivery vehicle.
Unmanned vehicle can cover in by described shade completely.In certain embodiments, the full-size (such as, length, diagonal or diameter) of described shade is greater than the full-size (such as, corresponding length, diagonal or diameter) of described unmanned vehicle.The full-size size of shade can not exceed the lateral dimension of delivery vehicle.Shade can be increased or can not increase the height of delivery vehicle.
Described shade can be made up of single tablet, also can be made up of multiple tablet be attached to each other together.In other embodiments, described shade to be a kind ofly made up of multiple tablet separated.
Described shade can be driven by regenerative resource.In certain embodiments, the renewable sources of energy can be solar energy, wind energy or other any regenerative resource.Such as, described delivery vehicle has at least one photovoltaic cell or photovoltaic panel, it can be arranged on shade.Preferably, photovoltaic panel also can be arranged on the surface at other position of delivery vehicle, for absorbing solar energy and being translated into electric energy.This electric energy can directly such as, at least one parts of delivery vehicle provide electric energy, the bus stop of delivery vehicle.The electric energy produced by solar energy also can provide electric energy for shade, for opening and/or closing shade.The electric energy that the battery of described unmanned vehicle also can use solar energy to produce directly charges.The battery of unmanned vehicle can be arranged on described unmanned vehicle or also and can be stored on described delivery vehicle, and then loads unmanned vehicle.Described electric energy can provide electric energy at least one parts of delivery vehicle, such as, drive shade or charge to battery.
In other embodiments, regenerative resource can utilize solar thermal energy.One liquid by solar energy heating produce be used for for delivery vehicle at least one parts electric energy is provided.This power storage in energy storage devices, drive at least one parts of delivery vehicle when needing, the battery comprised for unmanned vehicle carries out charging (be arranged on the battery on described unmanned vehicle or be replaced the battery of described unmanned vehicle).
Wind energy is another energy, and when delivery vehicle runs, the wind energy of generation can be converted into electric energy.Such as, delivery vehicle can use rotating vane to produce electric energy, provides electric energy at least one parts for delivery vehicle.This power storage is in energy storage device, there is provided electric energy when needs at least one parts of delivery vehicle, the battery (be arranged on the battery on described unmanned vehicle or be replaced the battery of described unmanned vehicle) comprised for unmanned vehicle charges.
Regenerative resource of the present invention can combine with other energy at least one parts driving delivery vehicle and/or unmanned vehicle.Regenerative resource can be supplied to delivery vehicle by the energy as a supplement.
When described unmanned vehicle rests on delivery vehicle, shade can surround described unmanned vehicle.Preferably, shade fully surrounds unmanned vehicle.There is band between shade and delivery vehicle, can prevent air from flowing into shade and increasing the dilatory load of delivery vehicle.Band also can comprise other parts of protection unmanned vehicle.When unmanned vehicle is surrounded by shade, unmanned vehicle can not be subject to the impact of wind and rain or other natural environment.Shade is waterproof, and and have waterproof to connect between delivery vehicle, thus prevent rainwater from flowing in shade.Preferably, shade is opaque, can prevent sunlight, thus reduces the damage to unmanned vehicle and/or delivery vehicle.Selectively, shade is transparent or translucent, and light can enter shade.But shade has filtration to light and only allows the light of certain wavelength to enter shade.
In other embodiments, shade partly covers in unmanned vehicle.Air can be flowed into inside shade by least one hole.In certain embodiments, hole is enough little can reduce the air capacity flowing into shade, thus reduces or reduce resistance or lift that described shade and/or described unmanned vehicle bring.
When unmanned vehicle drops on delivery vehicle, shade is opened.In certain embodiments, shade can around a central axis.Such as, described shade can be connected on the bus stop of delivery vehicle or delivery vehicle by hinge or other similar configuration.Described shade can open shade along hinge rotation makes unmanned vehicle expose, thus unmanned vehicle is taken off.In other embodiments, shade has multiple tablet formation of separating.Such as, the both sides of can cover structure separate thus unmanned vehicle are flown out from shade.Every limit, both sides of can cover structure is rotated around a hinge.In other embodiments, shade comprises multiple parts, and described multiple parts rotate around multiple axle.In the present embodiment, shade also has the directional aerial that can rotate around multiple axle.In other embodiments, be not rotate around hinge, shade can translation or transverse direction and/or vertical direction move.Two parts of shade slide along the track thus expose mid portion, allow unmanned vehicle can fly out from the mid portion exposed.In other embodiments, shade comprises the plate that at least one can shrink automatically.Such as, can plate in the ceiling of indentation delivery vehicle.In other embodiments, shade also can stretch voluntarily or fold.Shade can be opened in every way, allows unmanned vehicle to take off from delivery vehicle.
Take off once unmanned vehicle and flying, shade can be closed, and this mode can provide required air force for the delivery vehicle in motion.Selectively, in unmanned vehicle flight course, shade can stay open state.In certain embodiments, in unmanned vehicle flight course, the location status of shade can be controlled.Such as, the change in location of described unmanned vehicle is followed to change the position of shade.
When unmanned vehicle prepares land and be accommodated on delivery vehicle, if described shade is the state of closing, then open shade.In unmanned vehicle flight course, if shade stays open state, time on unmanned vehicle is landing delivery vehicle, shade then continues to stay open state.Land when unmanned vehicle and/or be accommodated to after on delivery vehicle, having closed shade.
Described shade is placed in the outer surface of delivery vehicle.When unmanned vehicle drops to the outer surface of delivery vehicle, the outer surface of delivery vehicle can cover in by shade.
Shade can have directional aerial function, and the bowl-shaped part of such as shade can as the function of directional aerial dish.Shade can rotate along at least one axle, thus makes directional aerial aim at described unmanned vehicle.
Consulting shown in Fig. 8, is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle drops in delivery vehicle.Unmanned vehicle 810 can rest on delivery vehicle 820.Delivery vehicle has a bus stop, allow unmanned vehicle to drop on delivery vehicle.Bus stop can be positioned at vehicle interior.Bus stop comprises a shade 830, and it enters bus stop inside for controlling unmanned vehicle.Shade partly can cover in unmanned vehicle or fully surround unmanned vehicle or protect described unmanned vehicle to be subject to externalities.
Described shade 830 can have any shape and size.In other embodiments, shade can be other any part of the roof of delivery vehicle, luggage case, bonnet part, door or delivery vehicle.Described shade can be configured to consistent with other surperficial style of delivery vehicle.When shade is in closed condition, shade can stretch out from delivery vehicle, also cannot stretch out from delivery vehicle.When shade is in closed condition, shade can from indentation delivery vehicle, also can not in indentation delivery vehicle.
The size of described shade allows to put into described unmanned vehicle.In certain embodiments, when shade is opened, unmanned vehicle can fly away from from shade, also can drop in bus stop.In other embodiments, the full-size (such as, length, diagonal or diameter) of shade is greater than the full-size (such as, corresponding length, diagonal or diameter) of unmanned vehicle.The size of shade can not exceed the lateral dimension of delivery vehicle.Shade may be increased or can not increase the height of delivery vehicle.
Described shade can be made up of single tablet, also can be made up of multiple tablet for good and all linked together each other.In other embodiments, shade to be a kind ofly made up of multiple tablet separated.
When unmanned vehicle is accommodated to the inside of delivery vehicle, shade can cover in unmanned vehicle.Preferably, when shade is closed, when not opening any one of delivery vehicle, unmanned vehicle cannot enter or fly away from described delivery vehicle.Described shade can provide Fluid Sealing function for delivery vehicle.Sealing between described shade and delivery vehicle can be bubble-tight.Can prevent air from flowing into shade and increase the resistance of delivery vehicle.This also can protect unmanned vehicle not by the impact of other parts.When unmanned vehicle is covered in by shade, unmanned vehicle can not be subject to the impact of wind and rain or other natural environment.Shade is waterproof, and and connect with having watertightness between delivery vehicle, thus prevent rainwater from flowing in shade.Preferably, shade is opaque, can prevent sunlight, thus reduces the damage to unmanned vehicle and/or delivery vehicle.Selectively, shade is transparent or translucent, and light can enter shade.But shade has filtration to light and only allows the light of certain wavelength to enter shade.Shade can be used as sunshade, when shade is closed, unmanned vehicle and vehicle interior can be made all to isolate with external environment condition, (unless other parts of delivery vehicle, such as window or door, be opened).
In other embodiments, shade partly covers in unmanned vehicle.Air can be flowed into inside shade by least one hole or opening.
When unmanned vehicle prepares to drop on delivery vehicle, open shade.In the present embodiment, unmanned vehicle is positioned at the engine room inside of delivery vehicle, and shade can be the ceiling of delivery vehicle.In other embodiments, unmanned vehicle can drop in boot or the afterbody of delivery vehicle, and in the surface of boot.In other embodiments, shade can be the bonnet of delivery vehicle, or is arranged in the surface of bonnet.
In examples of implementation, shade can around a central axis.Such as, described shade can be connected on the bus stop of described delivery vehicle or described delivery vehicle by hinge or other similar configuration.Described shade can open shade around hinge rotation makes described unmanned vehicle be exposed to environment, thus unmanned vehicle is taken off.In other embodiments, shade has multiple tablet formation of separating.Such as, the both sides of the ceiling of delivery vehicle separate thus unmanned vehicle are flown out from shade.Every limit, both sides of ceiling is rotated around a hinge.In other embodiments, be not rotate around a hinge, shade comprises multiple parts, and described multiple parts rotate around multiple axle.In the present embodiment, shade also has the directional aerial that can rotate around multiple axle.In other embodiments, be not rotate around hinge, shade can translation and/or transverse direction and/or vertical direction move.Two parts of shade slide along the track thus expose mid portion, allow unmanned vehicle can fly out from the mid portion exposed.In other embodiments, described shade comprises the plate that at least one can shrink automatically.Such as, can plate in the ceiling of indentation delivery vehicle.In other embodiments, shade also can stretch voluntarily or fold.Shade can be opened in every way, allows unmanned vehicle to take off from delivery vehicle.
In the present embodiment, shade can be the door being positioned at vehicle surfaces, such as, is positioned at the door on delivery vehicle ceiling.Any description having the description of closing the door all to be applicable to univalve door or multiple leaf door.In certain embodiments, shade 830 is as shown in Figure 8 opposite houses.Door can rotate around hinge, and door can upwards (outside to described delivery vehicle), inwardly or outwards open.In other embodiments, door can be sliding door.Door can height along the surface sliding of delivery vehicle without the need to changing delivery vehicle.Door can the remaining surface of delivery vehicle described in indentation.In other example, door can be the door of folding door or other any type.
Take off once described unmanned vehicle and flying, shade can be closed again, and this mode can provide required air force for the delivery vehicle in motion.Selectively, in described unmanned vehicle flight course, shade can stay open state.In certain embodiments, in described unmanned vehicle flight course, the location status of shade can be controlled.Such as, the change in location of described unmanned vehicle is followed to change the position of shade.
When unmanned vehicle prepares landing and when being accommodated on delivery vehicle, if described shade is the state of closing, then opens shade.In unmanned vehicle flight course, if shade stays open state, time on unmanned vehicle is landing delivery vehicle, shade then continues to stay open state.Land when unmanned vehicle and/or be accommodated to after on delivery vehicle, having closed shade.
Shade can as a part for vehicle surfaces.Unmanned vehicle can drop to vehicle interior, and shade can control unmanned vehicle and enters vehicle interior.When shade is opened, unmanned vehicle can move to outside from vehicle interior, or moves to the inside of delivery vehicle from the outside.When shade is closed, unmanned vehicle cannot move.
Consulting shown in Fig. 9, is the schematic diagram that the embodiment of the present invention sets forth the multiple delivery vehicle of unmanned vehicle identification.Supporting delivery vehicle 920c can be picked out from neighbouring other delivery vehicle 920a, 920b, 920d when unmanned vehicle 910 flies.Each described delivery vehicle has mark 930a, 930b, 930c, a 930d, and it is for mutually making a distinction delivery vehicle.
Unmanned vehicle 910 can communicate with supporting delivery vehicle 920c.In the process of unmanned vehicle flight, unmanned vehicle can send data on supporting delivery vehicle.Described delivery vehicle is relevant to described supporting delivery vehicle.Described unmanned vehicle can take off from supporting delivery vehicle, also can drop on supporting delivery vehicle.The operator of supporting delivery vehicle can control unmanned vehicle.
When in unmanned vehicle flight course, multiple delivery vehicle may occur in same place.Such as, in two-way traffic, there are many delivery vehicles mutually from obtaining very.In certain embodiments, when seeing from above, delivery vehicle may have similar shape and/or size, such as, have the delivery vehicle of identical apperance and color.Therefore, when unmanned vehicle prepares landing near supporting delivery vehicle, other delivery vehicle distinguishing supporting delivery vehicle and periphery is needed.Otherwise unmanned vehicle may drop on other delivery vehicle mistakenly, even possibly cannot successfully land.Therefore, unmanned vehicle may be caused to lose and/or person's damage.
Supporting delivery vehicle 920c has mark 930c, for distinguishing other delivery vehicle 920a, 920b, 920d.Mark can be detected by unmanned vehicle.Can produce according to mark at least one power unit that signal instruction drives unmanned vehicle, the lateral velocity thus controlling unmanned vehicle makes in its preset range dropped into relative to the lateral velocity of described delivery vehicle.When the flying speed of unmanned vehicle falls in the preset range of delivery vehicle, unmanned vehicle can be connected on delivery vehicle.
Unmanned vehicle can produce command signal.Such as, the flight controller of unmanned vehicle can produce at least one power unit that command signal drives described unmanned vehicle.Flight controller can receive the data of the sensor collection from unmanned vehicle, and/or communicates with the communication unit of the delivery vehicle having mark.In certain embodiments, described unmanned vehicle just can detect mark on delivery vehicle without the need to carrying out any communication with the mark on delivery vehicle and/or delivery vehicle.
In other embodiments, command signal can be produced by delivery vehicle.The processing unit of delivery vehicle can produce command signal and be sent on unmanned vehicle.The processing unit of delivery vehicle can produce signal according to the position of delivery vehicle, also can not produce command signal.The processing unit of delivery vehicle can produce signal according to the information (such as, the position of unmanned vehicle) of the unmanned vehicle received, and also can not produce command signal.
Mark 930c can be the mark of any type.In examples of implementation, mark can be a kind of visual cues that can be sensed by optical pickocff.In one embodiment, described mark can be sensed out by the optical pickocff of unmanned vehicle.This optical pickocff can be the camera can watched luminescence and/or reflect any electromagnetic spectrum signal.Such as, there is the camera of detecting visible rays.In other example, optical pickocff can detect ultraviolet (UV) signal or detect infrared ray (IR) signal.
Described mark 930c can identify by naked eyes.In the present example, mark can be a kind of one dimension (1D), two dimension (2D) or three-dimensional (3D) bar code.In its embodiment of base, described mark also can be that one responds identification (QR) code fast.Mark also can be image, symbol or any with the image of chequered with black and white style.In certain embodiments, mark can emission of light.Described light can be emitted by any light source, such as the light source of LED, incandescent lamp, laser or other any type.Mark comprises the luminous point of a laser spots or other type.Laser can modulating data.Described light source launches the light of specific wavelength or combined wave length.The described light sent can be any space pattern.In other embodiments, the light sent described in can be any of short duration pattern (such as, the opening and closing of pattern).
Described mark 930c can by IR sensor detecting out, also can be detected by hot sensing.Described be identified at closely IR frequency spectrum, remote IR frequency spectrum or and combination scope in time can be detected.
Described mark 930c can send the signal of any type.In certain embodiments, described mark can launch the wireless signal for identifying delivery vehicle, also can send the signal identifying delivery vehicle position.Such as, mark can send the identifier (such as unique delivery vehicle identifier) of delivery vehicle and the coordinate of described delivery vehicle or other positional information relevant with described delivery vehicle.Described mark can with the frequency emissioning signal of radio frequency or other model.Such as, mark uses RFID or other wireless method to transmit.Mark can pass through the direct wireless signal transmission wireless signal of WiFi, WiMax technology, bluetooth (Bluetooth) or other type.Mark can send audible signal or voice signal.In other embodiments, mark can launch a kind of high-frequency signal can not heard by people's ear.
In certain embodiments, delivery vehicle 920c only provides a list to identify 930c.Selectively, delivery vehicle also can provide multiple mark.Multiple mark can be identical type, also can be different types.Described unmanned vehicle can detect the mark of single type, also can detect the mark of multiple type.A mark on corresponding delivery vehicle, unmanned vehicle has at least one sensor to detect this mark.
Mark 930a, 930b, 930c, 930d can distinguish mutually, and this has to utilize distinguishes different delivery vehicle 920a, 920b, 920c, 920d.Unmanned vehicle uses sensor to distinguish different marks.Such as, unmanned vehicle uses sensor to distinguish the supporting delivery vehicle with mark 930c from the mark 930a of surrounding, 930b, 930d.Such as, if mark is visual pattern, mutually can distinguishes between described visual pattern and come.Each delivery vehicle has a unique visual pattern.In other embodiments, if identification transmissions goes out wireless signal, this wireless signal provides identification code to be distinguished by the delivery vehicle of supporting delivery vehicle and surrounding and comes.
When delivery vehicle is in motion process, mark also can be detected by unmanned vehicle 910 and/or identify.Even if delivery vehicle runs with any speed, unmanned vehicle can detect mark, from other delivery vehicle 920a, 920b, 920d, identify supporting delivery vehicle 920c.In other embodiments, unmanned vehicle is in flight course, and unmanned vehicle can communicate with supporting delivery vehicle.Supporting delivery vehicle can send the positional information of self to unmanned vehicle.Unmanned vehicle determines according to the position of supporting delivery vehicle the supporting delivery vehicle that how to fly to.In other embodiments, supporting delivery vehicle can receive the positional information of unmanned vehicle, and returns according to the positional information of unmanned vehicle and the positional information generation command signal control unmanned vehicle of supporting delivery vehicle.But, even if the relative position of supporting delivery vehicle and/or unmanned vehicle is known, owing to there is a lot of delivery vehicle and all at the volley in side smaller, there is mark and be conducive to unmanned vehicle and accurately locate, described unmanned vehicle is successfully dropped on supporting delivery vehicle.
Once landing command sequence is determined, unmanned vehicle can fly the position of supporting delivery vehicle.In other embodiments, delivery vehicle can send the geographical coordinate of delivery vehicle to unmanned vehicle.In certain embodiments, unmanned vehicle can receive the gps coordinate of delivery vehicle in real time, and this coordinate can make unmanned vehicle obtain the particular location of delivery vehicle.But near its circumference has other delivery vehicles many or similar object, unmanned vehicle can use multiple sensor from around delivery vehicle, detect the mark of supporting delivery vehicle.Such as, unmanned vehicle can use the method for view-based access control model to ensure accurate landing.The camera (such as, being arranged on the downside of unmanned vehicle) that unmanned vehicle utilizes it to install provides accurate location, and Machine Vision Recognition Technology (Machinevisiontechniques) also can be used to read mark.Other technology any or sensor all can be used for detecting and distinctive mark.Once the mark of supporting delivery vehicle is identified, unmanned vehicle just can to drop on supporting delivery vehicle and to rest on supporting delivery vehicle.
Communication between unmanned vehicle and supporting delivery vehicle can obtain the positional information of supporting delivery vehicle.Mark can be assisted the position of the supporting delivery vehicle of acquisition further and supporting delivery vehicle and other delivery vehicle of periphery be made a distinction.Mark can determine the supporting delivery vehicle of the required landing of unmanned vehicle.
Mark uniquely can distinguish supporting delivery vehicle from other delivery vehicle of surrounding.In other embodiments, the scope the identifying supporting delivery vehicle distance be approximately from supporting delivery vehicle is 0.01 kilometer, 0.05 kilometer, 0.1 kilometer, 0.3 kilometer, 0.5 kilometer, 0.7 kilometer, 1 kilometer, 1.5 kilometers, 2km2.5 kilometer, 3 kilometers, 3.5 kilometers, 4 kilometers, 4.5 kilometers, 5 kilometers, 5.5 kilometers, 6 kilometers, 7 kilometers, 8 kilometers, 9 kilometers, 10 kilometers, 12 kilometers, 15 kilometers, 20 kilometers, 25 kilometers, 30 kilometers, 35 kilometers, 40 kilometers or 50 kilometers.Each is designated delivery vehicle and provides a unique identification code, its corresponding unmanned vehicle or can identify by supporting unmanned vehicle.Unmanned vehicle can perform calibration (described mark such as, visual pattern, IR signal, UV signal or wireless signal) by unique identification code.Such as, in a calibration command sequence, described unmanned vehicle can identify interactive communication with one, identifies delivery vehicle corresponding to described unique identification code to understand.Like this, when delivery vehicle have updated mark or unmanned vehicle is equipped with different supporting delivery vehicle, unmanned vehicle can be recalibrated the mark that makes new advances and find the delivery vehicle of this mark correspondence.
Identify the mark landing place of unmanned vehicle on delivery vehicle helpful, it can drop to tram on delivery vehicle by assisting navigation unmanned vehicle.In certain embodiments, delivery vehicle uses multiple mark to carry out auxiliary unmanned vehicle and drops to desired position.In certain embodiments, when unmanned vehicle rests on delivery vehicle, unmanned vehicle need towards a specific direction.In the present embodiment, mark comprise a kind of can by the asymmetric image of unmanned vehicle identification or bar code.Datum identifier can indicate delivery vehicle relative to the direction of unmanned vehicle.Therefore, when unmanned vehicle drops to delivery vehicle, can have correct towards.Mark also can indicate delivery vehicle relative to the distance of unmanned vehicle.The height of unmanned vehicle can be judged by the sensor of unmanned vehicle.Such as, if the size of Datum identifier is known, the size sensing mark according to the sensor on unmanned vehicle just can estimate the distance of unmanned vehicle relative to delivery vehicle.Also the movement velocity of delivery vehicle and/or the motion conditions of delivery vehicle can be judged by mark.If unmanned vehicle collects image with CF, the motion conditions of delivery vehicle relative to unmanned vehicle just can be determined in the position identified in the two field picture of front and back two.
In one embodiment, mark can need the anchor point that drops on delivery vehicle by regulation unmanned vehicle.No matter delivery vehicle remains static or is in mobile status, and unmanned vehicle drops to the position of the anchor point of delivery vehicle or bus stop all must be very accurate.Mark can guide unmanned vehicle to drop to the place of required landing.Such as, mark can be placed on the position at the 10cm place, front at the center, level point of unmanned vehicle, and unmanned vehicle can drop to the place of required landing exactly by mark.In certain embodiments, provide multiple mark to carry out the landing of auxiliary unmanned vehicle, level point can be positioned in the middle of multiple mark.Unmanned vehicle drops on required level point by the plurality of mark.
Mark can be placed on delivery vehicle Anywhere.In certain embodiments, mark can be placed on the outer surface of delivery vehicle, also can be placed on the bonnet of the ceiling of delivery vehicle, the boot of delivery vehicle, delivery work, the side of the traction parts (such as, traction car cabinet or traction dolly) of delivery vehicle, delivery vehicle, the door and window of delivery vehicle, the rearview mirror of delivery vehicle, the illuminating lamp of delivery vehicle or delivery vehicle any position.In certain embodiments, described mark can be placed on bus stop.Described mark can be placed on can by the surface of the bus stop of described unmanned vehicle identification.Described bus stop can be removed from delivery vehicle, also can be fixed on delivery vehicle.Mark can be placed on can by any position on the delivery vehicle of unmanned vehicle identification.Mark can launch wireless signal by delivery vehicle, and this signal can be gone out from the inside of delivery vehicle or external emission.
Mark can be positioned at nearer position, the position that rests on delivery vehicle relative to unmanned vehicle.In one embodiment, the position of the junction formed between the positional distance unmanned vehicle of mark and delivery vehicle is approximately less than 100cm, 90cm, 80cm, 75cm, 70cm, 65cm, 60cm, 55cm, 50cm, 45cm, 40cm, 35cm, 30cm, 25cm, 20cm, 15cm, 12cm, 10cm, 8cm, 7cm, 6cm, 5cm, 4cm, 3cm, 2cm or 1cm.
The data relevant to the mark detected are supplied at least one processor.Described processor can be the processor of unmanned vehicle.Processor produces command signal individually or jointly according to the data message about mark detected, and utilizes this command signal to drive the power unit of unmanned vehicle.Such as, when the mark detected belongs to supporting delivery vehicle, power unit can control unmanned vehicle and drop on the supporting delivery vehicle corresponding to mark that detects, when the mark detected does not belong to supporting delivery vehicle, power unit can control unmanned vehicle continuation flight and find other mark belonging to supporting delivery vehicle.
In certain embodiments, the sensor on unmanned vehicle can detect mark and to go forward side by side row relax.Once unmanned vehicle is determined to identify belong to supporting delivery vehicle, unmanned vehicle is without the need to just can automatically drop on delivery vehicle from the guide of delivery vehicle or the information of delivery vehicle.
Delivery vehicle comprises mark and at least one attaching parts.Its position and/or velocity information can be sent to unmanned vehicle by delivery vehicle.Delivery vehicle comprises positioning unit, for determining position and/or the velocity information of delivery vehicle.Delivery vehicle also can receive the positional information from unmanned vehicle, such as coordinate information (gps coordinate).Delivery vehicle comprises communication unit, for communicating with unmanned vehicle.Delivery vehicle comprises processor, for identifying and/or calculate the position of unmanned vehicle.
Consulting shown in Figure 10, is the schematic diagram that the unmanned vehicle of embodiment of the present invention elaboration communicates with the supporting delivery vehicle be associated.Unmanned vehicle 1010 can communicate with supporting delivery vehicle 1020b.In certain embodiments, other delivery vehicle 1020a, 1020c, 1020d is had around supporting delivery vehicle.Unmanned vehicle can be supporting delivery vehicle carry out communicating and can not communicating with other delivery vehicle.Unmanned vehicle can identify supporting delivery vehicle and communicate with supporting delivery vehicle from other delivery vehicle.
In certain embodiments, one-way communication is carried out between unmanned vehicle 1010 and delivery vehicle 1020b.Unmanned vehicle sends data to supporting delivery vehicle.Described data comprise the data that the load equipment of unmanned vehicle and/or sensor provide.In one embodiment, load can be the image acquisition equipment of camera or other type.Camera can absorb still image (photo) and/or dynamic image (video).The image of video camera picked-up can be sent to supporting delivery vehicle, and can not be sent to other delivery vehicle around.
Unmanned vehicle also can send other data to supporting delivery vehicle.Such as, the position data of unmanned vehicle can be sent to supporting delivery vehicle, and position data is provided by least one sensor of unmanned vehicle.Position can be identified and be sent to described supporting delivery vehicle on described unmanned vehicle, and preferably, position data is sent to the position that supporting delivery vehicle makes delivery vehicle determination unmanned vehicle.Unmanned vehicle also can send anyly thanks to environmental data that device detects to supporting delivery vehicle by least one sensing, such as temperature data, wind-force data, sunlight strength data, errors in visibility data, voice data or other any environmental information.Environmental data also comprises the data detecting static state around and/or dynamic object.
In one embodiment, user (operator of such as delivery vehicle 1020b or passenger) wishes to collect ambient condition information, and these information can not be collected due to user in delivery vehicle.User wishes the photo collecting surrounding environment.Such as, during traffic jam, when user cannot judge the situation of traffic jam, user can use unmanned vehicle to go to collect surrounding traffic situation.The unmanned vehicle with camera flies to the front of delivery vehicle.Described unmanned vehicle can obtain view data about traffic jam and/or possible driving path.The image of unmanned vehicle picked-up can help user to assess to also have how long just can not the degree of traffic jam and/or blocking.User can obtain the image absorbed in real time by the display device of delivery vehicle.Such as unmanned vehicle 1010 can to spiral the information obtaining and can not be watched by user at supporting delivery vehicle 1020b and/or other delivery vehicle 1020a, 1020c, 1020d overhead.
Another one is the example of user on searching parking stall, parking lot.Unmanned vehicle obtains image in overhead, parking lot, according to realtime graphic, user can judge which parking stall can be used for stopping.If other vehicle is also on searching parking stall, parking lot, user can go to find parking stall in other open parking lot to front.This mode can help user to search out suitable parking stall in different parking lot.In some embodiments, the image that unmanned vehicle provides can help user determine which parking lot have at most can for stop parking stall.
In other embodiments, user in order to security consideration wish scout surrounding environment position.Whether user needs to know in current region has other delivery vehicle in operation, unmanned vehicle can spiral in current region overhead and obtain the image of surrounding environment.
Supporting delivery vehicle can be first respondent or relief car, such as, supporting vehicle can be enforcement vehicle (as police car), fire fighting truck, ambulance or other respond vehicle fast.Before supporting delivery vehicle is reached the spot, may wish to obtain more information about rescue.Unmanned vehicle is by the on-the-spot information obtained about rescue of flying in advance.If there occurs traffic accident, malpractice, fire or other emergency, before supporting delivery vehicle arrives the scene of the accident, unmanned vehicle can gather the information of the scene of the accident (such as, the image of the picked-up scene of the accident) and be sent on supporting delivery vehicle, fast and effeciently accident settlement therefore can be helped on-the-spot.
Another one example is to provide one and comprises the unmanned vehicle of light source as load.Described light source can illuminate the region below unmanned vehicle.In certain embodiments, under some dark surrounds, user wishes that unmanned vehicle flies to the crown and/or front, and whether to illuminate the road in front, making the operator of supporting delivery vehicle see front clearly has barrier.The additional light source that unmanned vehicle provides can provide extra perspective or visibility compared with the illuminating lamp of delivery vehicle.In certain embodiments, if the illuminating lamp of delivery vehicle does not work or lost efficacy, unmanned vehicle is used for providing illumination for delivery vehicle.In the present embodiment, supporting delivery vehicle may be used for finding runaway convict, and unmanned vehicle pursues and captures an escaped prisoner with help to provide aerial viewpoint and/or light source near the flight of supporting delivery vehicle.
The present invention uses unmanned vehicle to carry out geographical mapping on the other hand.Such as, unmanned vehicle obtains the image of surrounding environment, or uses other sensor to create the map of surrounding environment.Described supporting delivery vehicle can be driven everywhere, thus produces the map of surrounding environment, and unmanned vehicle can provide supplementary data for supporting delivery vehicle.The aerial image that unmanned vehicle obtains can be used alone, and the image that also can obtain with delivery vehicle is combined.
Alternatively, other data, the position of such as delivery vehicle also can send user to.In certain embodiments, the location mark of unmanned vehicle is on map.Like this, the image contributed to unmanned vehicle obtains puts into geographical contents.Alternatively, the position of supporting delivery vehicle also can be indicated on map.Therefore, map can demonstrate unmanned vehicle and the relative geographical position relationship of supporting delivery vehicle within geographic area.Like this thus contribute to user and control unmanned vehicle or send instructions on unmanned vehicle.
Delivery vehicle 1020b also can communicate with supporting unmanned vehicle 1010.Described communication comprises the positional information of delivery vehicle.Described unmanned vehicle uses the positional information of delivery vehicle to control the flight path of unmanned vehicle.In certain embodiments, described unmanned vehicle flies along the predetermined flight path relevant to described delivery vehicle position.In other embodiments, described unmanned vehicle flies in the particular range of described delivery vehicle position.Described unmanned vehicle uses the positional information of described delivery vehicle to return and drops on described delivery vehicle.
The communication of described delivery vehicle and supporting unmanned vehicle also comprises described delivery vehicle and sends at least one flight directive to described unmanned vehicle.In other embodiments, described flight directive comprises the flight directly controlling unmanned vehicle in real time.Such as, described delivery vehicle has remote controllers, for controlling the flight of unmanned vehicle.User operation remote controllers control the flight of described unmanned vehicle.Described unmanned vehicle real-time response is from the instruction of remote controllers.Described remote controllers can control the position of unmanned vehicle, direction, speed, angular speed, acceleration and/or angular acceleration.Any input operation of described remote controllers all can cause the response of unmanned vehicle.The input of described remote controllers can correspond to the specific output of unmanned vehicle.Therefore, user can by the flight of described remote controllers Artificial Control unmanned vehicle.Described user can the flight of Artificial Control unmanned vehicle in delivery vehicle.User can be the operator of delivery vehicle, or the passenger in delivery vehicle.
In certain embodiments, described flight directive comprises some initialized default command sequences.Such as, user can input instruction, controls described unmanned vehicle and takes off from delivery vehicle.In certain embodiments, can provide predetermined protocol that described unmanned vehicle is taken off.In certain embodiments, user can unmanned vehicle described in Artificial Control, takes off from delivery vehicle to make described unmanned vehicle.If provide shade for described unmanned vehicle, the command sequence preset that described unmanned vehicle takes off comprises opens shade.The preset instructions sequence that described unmanned vehicle takes off also comprises the stop portion unlocking or disconnect unmanned vehicle and delivery vehicle.Described preset instructions sequence also comprises the flying height using at least one power unit to promote unmanned vehicle.The direction of unmanned vehicle and/or position can control.In certain embodiments, when unmanned vehicle takes off, the motion conditions of delivery vehicle can as the factor of unmanned vehicle take-off process consideration.Environmental condition, such as wind speed, the factor can considered as unmanned vehicle take-off process, the factor also can not considered as unmanned vehicle take-off process.
In other example, user can input instruction makes described unmanned vehicle drop on described delivery vehicle.In certain embodiments, the predetermined protocol that described unmanned vehicle drop to delivery vehicle can be supplied to.In other embodiments, user can unmanned vehicle described in Artificial Control, drops on delivery vehicle to make described unmanned vehicle.The unmanned vehicle command sequence dropped in the process on delivery vehicle comprises the flying height using at least one power unit to reduce described unmanned vehicle.The direction of described unmanned vehicle and/or position to control.In certain embodiments, when described unmanned vehicle landing, the motion conditions of delivery vehicle can as the factor of described unmanned vehicle descent.Such as, the flying speed of described unmanned vehicle should be mated with the lateral velocity of delivery vehicle, or in the predetermined speed range of the lateral velocity of described delivery vehicle.When described unmanned vehicle is about to the described delivery vehicle of landing, the lateral velocity (lateralvelocity) of described unmanned vehicle is approximately 15 miles per hour, 12 miles, 10 miles, 9 miles, 8 miles, 7 miles, 6 miles, 5 miles, 4 miles, 3 miles, 2 miles, 1 mile, 0.5 mile or 0.1 mile.Environmental condition, such as wind speed, can as the factor of the consideration of described unmanned vehicle descent, also can not as the factor of the consideration of described unmanned vehicle descent.Command sequence in described unmanned vehicle descent comprises the stop portion stopping or connect described unmanned vehicle and described delivery vehicle.Alternatively, described unmanned vehicle descent comprises when described unmanned vehicle is stopped to described delivery vehicle, and shade is covered in described unmanned vehicle.
After described unmanned vehicle is separated with described delivery vehicle, flight directive is determined according to the offline mode (flightpattern) of unmanned vehicle.In certain embodiments, the offline mode of described unmanned vehicle comprises automatic offline mode or Semi-automatic flight pattern.Described offline mode can indicate described unmanned vehicle relative to the position of described delivery vehicle.Described offline mode can indicate described unmanned vehicle relative to the position of described delivery vehicle along with passage of time.Such as, a kind of offline mode can instruct described people's aircraft to fly above delivery vehicle with certain height.When described vehicle motion, unmanned vehicle in the flight of delivery vehicle side with the operation responding described delivery vehicle, and can maintain the top of described delivery vehicle.In other embodiments, described offline mode can instruct described unmanned vehicle to fly above described delivery vehicle, and keeps certain distance in the front of described delivery vehicle.Such as, unmanned vehicle can fly to sky, and remains on flight within the scope of about 500 meters of described delivery vehicle front.After flight certain hour, described unmanned vehicle can be back to delivery vehicle and drop on described delivery vehicle.Other offline mode comprises circuitous flight pattern, the offline mode of offline mode or other shape of turn-taking.Offline mode comprises described unmanned vehicle at described delivery vehicle flying overhead, front flight, below flight, the right flight, left side flight and combination flying method thereof.Described unmanned vehicle can be back to described delivery vehicle along offline mode flight special time and drop on described delivery vehicle relative to delivery vehicle.
In other embodiments, described unmanned vehicle can be back to described delivery vehicle according to the situation of detecting.Such as, if when the battery capacity of unmanned vehicle is less than charge threshold, described unmanned vehicle is then back to described delivery vehicle.Such as, described charge threshold is approximately 50%, 40%, 30%, 25%, 20%, 15%, 12%, 10%, 8%, 7%, 6%, 5%, 4%, 3%, 2% or 1% of battery total capacity.In other embodiments, if when unmanned vehicle breaks down, described unmanned vehicle is then back to described delivery vehicle.Such as, when detecting that at least one parts of unmanned vehicle are overheated, described unmanned vehicle can be back to delivery vehicle immediately.In other embodiments, at least one sensor or the load equipment fault of unmanned vehicle can be detected.Such as, when the camera of unmanned vehicle no longer works, described unmanned vehicle can be back to described delivery vehicle immediately.If at least one sensor irregular working and/or when cannot receive signal, unmanned vehicle is then back to delivery vehicle.
In other embodiments, can indicate unmanned vehicle remain on the specific distance range of the delivery vehicle of movement in fly.Described distance range is approximately within the scope of 10 kilometers, 9.5 kilometers, 9 kilometers, 8.5 kilometers, 8 kilometers, 7.5 kilometers, 7 kilometers, 6.5 kilometers, 6 kilometers, 5.5 kilometers, 5 kilometers, 4.5 kilometers, 4 kilometers, 3.5 kilometers, 3 kilometers, 2.5 kilometers, 2 kilometers, 1.5 kilometers, 1 kilometer, 500 meters, 300 meters or 100 meters of supporting delivery vehicle.Described distance refers to lateral separation, height or any combination.Described distance can be the combination of lateral separation and fore-and-aft distance.Described unmanned vehicle flies in distance range according to the offline mode preset.In other example, described unmanned vehicle can not defer to pre-set flight pattern, but free flight in distance range, but still need to keep the above-mentioned distance with delivery vehicle.In other embodiments, user can Artificial Control unmanned vehicle above-mentioned apart from interior free flight.When user want control unmanned vehicle fly out distance range time, unmanned flight can refuse fly away from predetermined distance range and still fly in distance range.
The distance described in the present embodiment refers to relative to the admissible region of supporting delivery vehicle.The described region that allows can have any shape or border, makes described unmanned vehicle be in this relative to described supporting delivery vehicle and can allow in region.The described region that allows can have the different distance threshold value had at different directions relative to supporting delivery vehicle.Such as, unmanned vehicle can remain on flight in supporting delivery vehicle front 4 kilometer range, remain in described supporting delivery vehicle side 2 kilometer range and fly or remain on flight in described supporting delivery vehicle rear 1 kilometer range.
When supporting vehicle motion, described distance threshold scope and/or can allow region, can run along with supporting delivery vehicle.Such as, if region can be allowed to be a circle round supporting delivery vehicle, when supporting vehicle motion, can move along with the motion of supporting tool movement, with the center making supporting delivery vehicle be in this circle all the time in the described region that allows.Therefore, the region of described unmanned vehicle flight can change in time.
Delivery vehicle can send other type instruction to supporting unmanned vehicle.Such as, delivery vehicle can send instruction and control load equipment.Described control comprises position and/or the direction of the camera controlling described unmanned vehicle.Described control also comprises other function controlling camera, or such as logging mode, zoom mode, other functional character of definition.Described delivery vehicle can pass through the default command sequence (such as, automatic mode or semiautomatic-mode) of initialization one or direct (manually) controls described camera.Similarly, described delivery vehicle also can send instruction and control at least one sensor.Send to the order of the sensor on described unmanned vehicle, load equipment or further feature, any parts of described unmanned flight can be allowed to perform following any one pattern: automatic mode, semiautomatic-mode or artificial mode.
Two-way communication can be adopted between unmanned vehicle 1010 and supporting delivery vehicle 1020b.The combination that any data are transmitted can be provided here.Such as, the command sequence of the execution controlling unmanned vehicle or initialize unmanned vehicle is may be used for from the instruction of delivery vehicle.Described instruction can control the flight of unmanned vehicle, other function device of the load equipment of described unmanned vehicle, sensor or unmanned vehicle.Described unmanned vehicle can send data to described delivery vehicle.Described data comprise the status information (such as position, flight path, error condition, state of charge) of unmanned vehicle and/or any data (such as, image, positional information, environmental information) of load equipment collection.In certain embodiments, described two-way communication affects each other, and provides feedback information each other.Such as, the position data of unmanned vehicle may be used for producing the instruction controlling the flight of described unmanned vehicle.Described feedback information can be provided by the processor of operator and/or unmanned vehicle, for generation of automatic instruction.
Described unmanned vehicle 1010 can be selected to communicate with supporting delivery vehicle 1020b, and does not carry out communication with other delivery vehicles.In certain embodiments, can presynchronization or match in advance between described unmanned vehicle and supporting delivery vehicle, make can directly communicate each other.Unique identification code can be mutually exchanged, in order to identify each other between described unmanned vehicle and/or supporting delivery vehicle.In other embodiments, described unmanned vehicle is communicated by unique frequency and/or communication channel with supporting delivery vehicle.Alternatively, described communication channel can be encrypted.
Consulting shown in Figure 11, is the schematic diagram that embodiment of the present invention elaboration unmanned vehicle communicates with multiple delivery vehicle.In other embodiments, multiple unmanned vehicle 1110a, 1110b, 1110c are simultaneously in a given area.Delivery vehicle 1120b, 1120C, 1120g that each unmanned vehicle correspondence one is supporting.Other delivery vehicle 1120a, 1120d, 1120e, 1120f also can appear at given area.These other delivery vehicles can have the unmanned vehicle supporting with oneself, also can not have and oneself supporting unmanned vehicle.
Each unmanned vehicle carries out communicating with each self-corresponding supporting delivery vehicle and does not communicate with other delivery vehicle.Described unmanned vehicle can communicate with supporting delivery vehicle, and does not disturb the communication between other unmanned vehicle and the supporting delivery vehicle of correspondence.Described unmanned vehicle communicates with supporting delivery vehicle, also can not intercept the communication between other unmanned vehicle and the supporting delivery vehicle of correspondence.Each unmanned vehicle can identify respective supporting delivery vehicle and only and with oneself supporting delivery vehicle communicate from other delivery vehicle.Similarly, each delivery vehicle can identify respective supporting unmanned vehicle and only and with oneself supporting unmanned vehicle communicate from other unmanned vehicle.Such as, unmanned vehicle 1110a can identify the delivery vehicle 1120b supporting with oneself from other delivery vehicle in regional extent.Described delivery vehicle 1120b also can identify the unmanned vehicle 1110a supporting with oneself from the unmanned vehicle of other in regional extent.In certain embodiments, described regional extent is less than or equal to 100 square kilometres, 90 square kilometres, 70 square kilometres, 60 square kilometres, 50 square kilometres, 45 square kilometres, 40 square kilometres, 35 square kilometres, 30 square kilometres, 25 square kilometres, 20 square kilometres, 15 square kilometres, 12 square kilometres, 10 square kilometres, 9 square kilometres, 8 square kilometres, 7 square kilometres, 6 square kilometres, 5 square kilometres, 4.5 square kilometre, 4 square kilometres, 3.5 square kilometre, 3 square kilometres, 2.5 square kilometre, 2 square kilometres, 1.5 square kilometre, 1 square kilometre, 0.8 square kilometre, 0.5 square kilometre, 0.3 square kilometre, 0.1 square kilometre, 0.05 square kilometre, or 0.01 square kilometre.
In certain embodiments, described unmanned vehicle 1110a, 1110b, 1110c can mutually detect and/or communicate with one another.Described unmanned vehicle can detect the existence of other unmanned vehicles, thus avoids colliding between unmanned vehicle.In certain embodiments, unmanned vehicle can have the shared model that communicates.Such as, the first unmanned vehicle 1110a can share the data of collection with the second unmanned vehicle 1110b.Such as, the image that the first unmanned vehicle obtains can share to the second unmanned vehicle.The data of oneself can be sent to supporting delivery vehicle 1120b by the first unmanned vehicle.The data of the first unmanned vehicle that the second unmanned vehicle receives can be sent to supporting delivery vehicle 1120c corresponding to the second unmanned vehicle.The data of the second unmanned vehicle collection also can be sent on supporting delivery vehicle corresponding to the second unmanned vehicle and first unmanned vehicle.Alternatively, the data coming from the second unmanned vehicle can be sent to its supporting delivery vehicle by the first unmanned vehicle.Therefore, data can be shared between different unmanned vehicle.This is conducive to the scope expanding the data of being collected by a unmanned vehicle.In other embodiments, when certain is given, a unmanned vehicle only can cover a region of specifying.If different unmanned vehicle is in zones of different, each unmanned vehicle can share the data message of zones of different, and the data message collected so just can be expanded.
In certain embodiments, user can select or not select the Data share model of unmanned vehicle.When user does not select the Data share model of unmanned vehicle, the unmanned vehicle of user just cannot communicate with other unmanned vehicle.When user have selected the Data share model of unmanned vehicle, the unmanned vehicle of user just can communicate with other unmanned vehicle.Other unmanned vehicle also needs to select Data share model.
Alternatively, the unmanned vehicle that delivery vehicle only can be supporting with oneself communicates.Or delivery vehicle can communicate with other delivery vehicle.In certain embodiments, delivery vehicle 1120b, 1120c, 1120g can mutually detect and/or intercom mutually.The delivery vehicle that described delivery vehicle can have supporting unmanned vehicle with other communicates, or delivery vehicle 1120a, 1120d, 1120e, 1120f of also can not having supporting unmanned vehicle with other communicate.Described delivery vehicle can be detected periphery and whether there is delivery vehicle.In certain embodiments, described delivery vehicle can have communication shared model.This communication shared model can be except the communication mode between unmanned vehicle, or replaces the communication mode between unmanned vehicle.Such as, the first delivery vehicle 1120b can share the data of collection with the second delivery vehicle 1120c.In one embodiment, the image that the first supporting with the first delivery vehicle unmanned vehicle obtains can send the first delivery vehicle to and share to the second delivery vehicle.Described first unmanned vehicle can send the data of oneself to supporting delivery vehicle 1120b.The data received can be sent to the second delivery vehicle by the first delivery vehicle.Described second delivery vehicle can transmit data to corresponding supporting unmanned vehicle 1110b, also can not transmit data to corresponding supporting unmanned vehicle 1110b.Similarly, the data of described second delivery vehicle collection also can be sent to the first delivery vehicle.The supporting unmanned vehicle of described second delivery vehicle can transmit data to the second delivery vehicle.Described second delivery vehicle can send data to the first delivery vehicle.Therefore, data can be shared between different delivery vehicle.This is conducive to the scope expanding the data that delivery vehicle is collected.Described delivery vehicle by associating multiple unmanned vehicle and or/other delivery vehicle receive the data of collecting from multiple unmanned vehicle.In other embodiments, when any appointment, a delivery vehicle only can cover a region of specifying.If different delivery vehicle is in zones of different, each delivery vehicle can share the data message of zones of different, thus the data message collected just can be expanded.
In other embodiments, user can select the Data share model also can not selecting delivery vehicle.When user does not select the Data share model of delivery vehicle, the delivery vehicle of user just cannot communicate with other delivery vehicle.When user have selected the Data share model of delivery vehicle, the delivery vehicle device of user just can communicate with other delivery vehicle.Other delivery vehicle also needs to select Data share model.
The present invention provides delivery vehicle can to communicate with any unmanned vehicle participating in Data share model on the other hand, and/or unmanned vehicle can communicate with any delivery vehicle participating in Data share model.Alternatively, unmanned vehicle can communicate with other unmanned vehicle any participating in Data share model, and/or delivery vehicle can communicate with other delivery vehicle any participating in Data share model.Such as, the unmanned vehicle 1110a participating in Data share model can communicate with supporting delivery vehicle 1120b.Described unmanned vehicle also can communicate with other unmanned vehicle 1110b participating in Data share model and/or other delivery vehicle 1120c participating in Data share model.Similarly, the delivery vehicle 1120b participating in Data share model also can communicate with supporting unmanned vehicle 1110a.Described delivery vehicle also can participate in the delivery vehicle 1120c of Data share model with other and/or communicate with other unmanned vehicle 1110b participating in Data share model.
When unmanned vehicle 1110c does not participate in Data share model, unmanned vehicle 1110c can carry out with supporting delivery vehicle 1120g communicating and can not carrying out communication to realize Data share model with other delivery vehicle any and/or unmanned vehicle.Similarly, when delivery vehicle 1120g does not participate in Data share model, described delivery vehicle 1120g can carry out with supporting unmanned vehicle 1110c communicating and can not carrying out communication to realize Data share model with other delivery vehicle any and/or unmanned vehicle.
As previously mentioned, user can select or not select Data share model.When user does not select Data share model, the unmanned vehicle of user or delivery vehicle just can not communicate with other unmanned vehicle or delivery vehicle.When user have selected Data share model, the unmanned vehicle of user or delivery vehicle just can communicate with other unmanned vehicle.Other unmanned vehicle described or delivery vehicle also need to select Data share model.In certain embodiments, user can select or at least one parameter of specific data shared model.Such as, user can select specific model or have unmanned vehicle and/or the delivery vehicle sharing data of special relationship with user.In other embodiments, user can specify the situation of data type or the sharing data shared with other unmanned vehicles and/or delivery vehicle.
Therefore, when having multiple unmanned vehicle and/or delivery vehicle, can limit as required or opening the communication between them.Closed-circuit signalling (closedcommunication) only allows to carry out privately owned communication between unmanned vehicle and supporting delivery vehicle.In other embodiments, when unmanned vehicle and delivery vehicle need shared information, the communication between them can be opened.Unmanned vehicle and delivery vehicle can identify the supporting partner of oneself correspondence from other object region.In other embodiments, unique identification code and the encryption and/or the deciphering that may be used for shared data.
The delivery vehicle that each unmanned vehicle correspondence one is supporting.Or, a corresponding multiple supporting delivery vehicle of unmanned vehicle.The corresponding supporting unmanned vehicle of delivery vehicle.Or, a corresponding multiple supporting unmanned vehicle of delivery vehicle.
Consulting shown in Figure 12 A, is that the embodiment of the present invention is set forth to be arranged at delivery vehicle can be carried out the schematic diagram of the antenna communicated with unmanned vehicle.In unmanned vehicle 1210 flight course, this unmanned vehicle 1210 can communicate with supporting delivery vehicle 1220.Unmanned vehicle is communicated by antenna 1230 with delivery vehicle.Described antenna can be a kind of can the directional aerial in Self-variation direction.Such as, described antenna can pass through at least one rotating shaft 1240a, 1240b change direction.
In unmanned vehicle 1210 flight course, this unmanned vehicle can communicate with supporting delivery vehicle 1220.In certain embodiments, unmanned vehicle and delivery vehicle carry out two-way communication.In delivery vehicle running, described unmanned vehicle can take off from described delivery vehicle and/or drop on described delivery vehicle.In described delivery vehicle moving process, described unmanned vehicle can take off from delivery vehicle and/or drop on delivery vehicle.
In certain embodiments, unmanned vehicle 1210 directly communicates with supporting delivery vehicle 1220.Described direct communication can be undertaken by directional aerial 1230.Directional aerial is arranged on supporting delivery vehicle.In other embodiments, directional aerial is arranged on unmanned vehicle.Delivery vehicle and unmanned vehicle can have directional aerial simultaneously.In other embodiments, delivery vehicle can have directional aerial and unmanned vehicle does not have directional aerial.
Directional aerial 1230 can be beam antenna.Directional aerial can transmit along at least one direction.Be conducive to the performance increasing data transmission along at least one assigned direction like this.So also be conducive to the performance increasing data receiver along at least one assigned direction.Alternatively, directional aerial is used can to reduce some unnecessary interference.Such as, the signal that directional aerial is launched can weaken the interference of the signal from other direction.In other embodiments, directional aerial can be the directional aerial of yagi aerial (Yagi-Uda) antenna, logarithm period (log-periodic) antenna, corner reflector (cornerreflector) or other type.
Directional aerial has larger communication range at least one direction.Such as, directional aerial has larger communication range relative to multidirectional antenna on Primary communication direction.Directional aerial can have less communication range relative to multidirectional antenna on non-principal communication direction.Directional aerial can not have less communication range relative to multidirectional antenna on non-principal communication direction.
When unmanned vehicle 1210 is positioned on Primary communication direction, the range for wireless communication between unmanned vehicle and directional aerial can be increased.In certain embodiments, when being positioned on Primary communication direction, unmanned vehicle directly communicates in a distance with the directional aerial be arranged on supporting delivery vehicle 1220, described distance is at least 1m, 5m, 10m, 20m, 30m, 40m, 50m, 60m, 70m, 80m, 90m, 100m, 120m, 150m, 170m, 200m, 220m, 250m, 300m, 400m, 500m, 600m, 700m, 800m, 900m, 1km, 1.2km, 1.5km, 2km, 2.5km, 3km, 3.5km, 4km, 4.5km, 5km, 6km, 7km, 8km, 9km, 10km, 12km, 15km, or 20km.In other embodiments, when communication distance is less than any one distance above-mentioned, unmanned vehicle just can communicate with directional aerial.
When unmanned vehicle is not positioned on Primary communication direction, compared with being positioned at Primary communication direction with unmanned vehicle, the range for wireless communication between unmanned vehicle and directional aerial can reduce relatively.In certain embodiments, minimum range for wireless communication when not being positioned on Primary communication direction and maximum wireless communication range ratio when being positioned on Primary communication direction are for being less than or equal to 4:5,3:4,2:3,1:2,1:3,1:4,1:5,1:6,1:7,1:8,1:9,1:10,1:12,1:15 or 1:20.In other embodiments, this ratio can be more than or equal to any one rate value above-mentioned, also can be between above-mentioned any two rate values.
Directional aerial 1230 can move.Described directional aerial can change sensing by rotating at least one rotating shaft 1240a, 1240b.Described directional aerial can by one or more, two or more, three or more rotating shaft rotates.Mutually vertical between rotating shaft.When described directional aerial moves, also keep mutually vertical between rotating shaft.Can mutually intersect between described rotating shaft.In other embodiments, the basic axle (base) of rotating shaft and directional aerial intersects.Described directional aerial can have a fulcrum.Alternatively, multiple rotating shaft intersects at described fulcrum.Alternatively, rotating shaft can be pitching rotating shaft and/or course rotating shaft.Described rotating shaft also can comprise roll axle also can not comprise roll axle.The lateral angles of described directional aerial can adjust.The luffing angle of described directional aerial and/or vertical angle can change.Described directional aerial can any angle of translation, and such as directional aerial can translation 0 degree to 360 degree.Described directional aerial can translation 5 degree, 10 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree, 90 degree, 105 degree, 120 degree, 135 degree, 150 degree, 165 degree, 180 degree, 210 degree, 240 degree, 270 degree, 300 degree, 330 degree, 360 degree or 720 degree.Directional aerial can tilt any angle up or down.Such as, directional aerial can be inclined upwardly 5 degree, 10 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree or 90 degree, also can downward-sloping 5 degree, 10 degree, 15 degree, 30 degree, 45 degree, 60 degree, 75 degree or 90 degree.
Described directional aerial can change sensing to make Primary communication direction and unmanned vehicle on the same line.Described unmanned vehicle can move relative to described delivery vehicle.When described unmanned vehicle moves relative to delivery vehicle, described unmanned vehicle can fly.Described directional aerial also can adjustment direction, to make Primary communication direction point to unmanned vehicle, or near unmanned vehicle.In certain embodiments, within 45 degree, 40 degree, 35 degree, 30 degree, 25 degree, 20 degree, 15 degree, 10 degree, 8 degree, 7 degree, 6 degree, 5 degree, 4 degree, 3 degree, 2 degree or 1 degree of direction, unmanned vehicle place can be pointed in described Primary communication direction.
Described unmanned vehicle is known relative to the position of delivery vehicle.The positional information of unmanned vehicle and/or delivery vehicle can collect to determine the position of unmanned vehicle relative to delivery vehicle.Described unmanned vehicle comprises the angle direction of unmanned vehicle relative to delivery vehicle relative to the position of delivery vehicle.Described angle direction it comprise lateral angle direction and longitudinal angle direction.Described angle direction also can comprise unmanned vehicle relative to the relative altitude position of delivery vehicle and opposed lateral positions.
Processor can calculate the orientation angle of the directional aerial on delivery vehicle.Described angle calculation is the relative position of unmanned vehicle based on known and delivery vehicle.Described unmanned vehicle can be communicated by directional aerial with delivery vehicle.The described angle calculated can make the Primary communication direction of antenna point to unmanned vehicle.When described unmanned vehicle flight, the angle of directional aerial changes according to the flight path of unmanned vehicle, to chase the motion of described unmanned vehicle.In certain embodiments, the angle of directional aerial can real-time update, and follows the tracks of the motion of unmanned vehicle in real time.In other embodiments, the angle of directional aerial can regular update, and its update cycle can be any frequency (such as 10 minutes approximately per hour, every, every 5 minutes, every 3 minutes, every 2 minutes, every 1 minute, every 45 seconds, every 30 seconds, every 20 seconds, every 15 seconds, every 12 seconds, every 10 seconds, every 8 seconds, every 7 seconds, every 6 seconds, every 5 seconds, every 4 seconds, every 3 seconds, every 2 seconds, every 1 second, every 0.5 second, every 0.1 second or other any time interval).In other embodiments, after receiving an event or instruction, the angle of directional aerial then upgrades once.Such as, when detecting unmanned vehicle and flying away from special angle scope, then the angle direction of directional aerial is corrected.
In some embodiments, calculate directional aerial and angle direction can comprise at least one step following.These steps are illustrated by embodiment provided by the invention, but are not used for limiting the present invention.The order of step can convert, can increase or remove some steps between step, also can exchange between step.
Coordinate system can be changed.GPS exports geographical position coordinates data.In geographical position coordinates system, earth surface is approximately an ellipse and latitude close to earth surface is expressed as Φ, longitude is expressed as λ and is highly expressed as h.ECEF (Earth-centered, earth-fixed) coordinate system can be expressed as card Deere coordinate system (Cartesiancoordinatesystem), and it represents position with X-coordinate, Y-coordinate, Z coordinate.With east to, north form to, upward direction the position coordinates that ENU (east, north, up) coordinate determines earth surface object.Therefore sometimes referred to as " tangent line " (localtangent) or " greatly " (localgeodetic) plane.Wherein, east to be expressed as X-axis, north to being expressed as Y-axis, upward direction is expressed as Z axis.For the ease of calculating, GPS location coordinate data can be converted into ENU coordinate, and its conversion comprises the steps:
1) according to following formula, position coordinate data is converted into ECEF coordinate:
X＝(N(φ)+h)cosφcosλ，
Y＝(N(φ)+h)cosφsinλ，
Z＝(N(φ)(1-e
2)+h)sinφ，
Wherein:
A and e represents semi-major axis and first eccentricity of ellipsoid respectively.
N (Φ) be one from ellipsoidal surfaces along ellipsoid method to the normal vector to Z axis distance.
2) according to following formula by system converting for ECEF be ENU coordinate system.
When USV receives the position data being sent to USV, with reference to following formula by system converting for ECEF be ENU coordinate system:
Calculate the distance between 2 on ellipsoidal surfaces, in certain embodiments, apply following Haversine formula to calculate the distance on earth surface between 2 A and B:
Wherein Δ φ-φ
a-φ
b, Δ λ-λ
a-λ
band R
efor earth radius.
In certain embodiments, the current location in ENU coordinate system and target location can be expressed as (x
y, y
σ) and (x
t, y
t).Angle between current location and target location (-180,180] can calculate according to following formula:
The vertical direction angle of directional aerial can be calculated.Triangle relation as shown in Figure 12 B can be used to calculate the vertical direction angle of directional aerial.Distance between delivery vehicle and unmanned vehicle is expressed as d, and can calculate according to such as above-mentioned Haversine formula (1).Wherein, θ is the vertical direction angle of antenna, and Δ h is the difference in height between delivery vehicle and unmanned vehicle, and d is the distance between delivery vehicle and unmanned vehicle.First calculate tan θ=Δ h/d, then the vertical angle of the indication calculating directional aerial equals arctan (Δ h/d).
Calculate the horizontal direction angle of directional aerial.As previously mentioned, longitude and latitude data can be converted into the coordinate in ECEF system.According to triangle relation, the expected angle of directional aerial can calculate according to formula described above (2).As indicated in fig. 12 c, an A and the some longitude of B and latitude first can be changed into the coordinate of ECEF system.The expected angle θ of directional aerial can calculate based on triangle relation.When level angle, θ can be azimuth.
The orientation of directional aerial can be calculated by step as above.Described calculating can be by least one processor, in combination or individually, performs above-mentioned steps and realizes described calculation procedure.
Described processor can be the processor be arranged on delivery vehicle, such as, on the bus stop that processor can be arranged on delivery vehicle and/or be arranged on the directional aerial of delivery vehicle.Described processor sends command signal at least one driver to directional aerial, drives the motion of directional aerial.In certain embodiments, drive at least one motor that antenna will be caused to rotate along at least one axle.In other embodiments, each rotating shaft has a special driver.In other embodiments, a driver is only had to control the rotation of multiple rotating shaft.
Directional aerial 1230 can be any shape or form.In certain embodiments, directional aerial can in dish, roughly hemispherical and/or circle.When unmanned vehicle 1210 drops on delivery vehicle, unmanned vehicle can cover in as the function of shade by described directional aerial.When unmanned vehicle drops on delivery vehicle, described directional aerial can be lived or cover in unmanned vehicle completely by part overlaid.The full-size of described directional aerial is greater than the full-size of unmanned vehicle.Directional aerial is as shade function, and it has any characteristic of shade as described above.
In certain embodiments, when unmanned vehicle 1210 drops on delivery vehicle 1220, unmanned vehicle can cover in by directional aerial 1230.When delivery vehicle moves, unmanned vehicle can cover in by directional aerial.When unmanned vehicle drops to after on delivery vehicle, unmanned vehicle can cover in by the hemisphere portion of directional aerial.When unmanned vehicle receives the instruction of taking off from delivery vehicle, open directional aerial and unmanned vehicle is taken off.Directional aerial can change direction to follow the tracks of the flight of unmanned vehicle, and the Primary communication direction of directional aerial is within the scope of the flight angle of unmanned vehicle.Described angular range is arbitrarily angled.When receiving unmanned vehicle landing instruction, unmanned vehicle can be accommodated on delivery vehicle, and unmanned vehicle covers in by directional aerial again.
Described unmanned vehicle directly can be communicated by described directional aerial with described delivery vehicle.In other embodiments, unmanned vehicle and delivery vehicle also can carry out indirect communication by directional aerial.When indirect communication, directional aerial does not need the flight following the tracks of unmanned vehicle.When indirect communication, directional aerial can point to trunking in indirect communication by adjusting position, and described trunking is used for auxiliary unmanned vehicle and delivery vehicle and carries out indirect communication.
In certain embodiments, described unmanned vehicle can directly communicate with described delivery vehicle, also can indirect communication.In other embodiments, unmanned vehicle and/or delivery vehicle can switch different communication modes and communicate.
Consulting shown in Figure 13, is the schematic diagram that the embodiment of the present invention sets forth direct communication between unmanned vehicle and delivery vehicle and indirect communication.Unmanned vehicle 1310 can communicate with supporting delivery vehicle 1320.In certain embodiments, unmanned vehicle and delivery vehicle carry out directly communicating 1340.In other embodiments, unmanned vehicle and delivery vehicle carry out indirect communication 1350,1360 by least one trunking.
Described unmanned vehicle 1310 can carry out radio communication with supporting delivery vehicle 1320.Described radio communication comprises and sends data to delivery vehicle from unmanned vehicle, and/or sends data to unmanned vehicle from delivery vehicle.In certain embodiments, the data being sent to unmanned vehicle from delivery vehicle comprise the instruction of the operation controlling unmanned vehicle.Described unmanned vehicle can take off from supporting delivery vehicle and/or drop on supporting delivery vehicle.
In other embodiments, described unmanned vehicle 1310 directly can communicate with supporting delivery vehicle 1320.Described unmanned vehicle can and supporting delivery vehicle between can set up and directly communicate to connect 1340.When unmanned vehicle and/or supporting delivery vehicle move, keep described direct communication connection always.Described unmanned vehicle and/or supporting delivery vehicle can move independent of one another.Unmanned vehicle can set up the communication connection of any type with supporting delivery vehicle, such as, WiFi connects, WiMax connects, COFDM connects, bluetooth (Bluetooth) connects, the direct communication connection of any types such as infrared ray (IR) connection, directional aerial.Any type of communication between two objects is all suitable for the communication between unmanned vehicle and delivery vehicle.
In certain embodiments, directly communication may be subject to the restriction of distance, sight line or barrier.Compared with indirect communication, directly communicate with having and transmit data faster and need larger data bandwidth.
Described unmanned vehicle 1310 can carry out indirect communication with supporting delivery vehicle 1320.Alternatively, during indirect communication, unmanned vehicle can also comprise at least one trunking 1330 with supporting delivery vehicle is middle.Such as, described trunking can be satellite, router, communication tower, repeater or other any type equipment.Form communication connection 1350 between unmanned vehicle and trunking, and between trunking and delivery vehicle, form communication connection 1360.Any amount of trunking can be comprised between unmanned vehicle and supporting delivery vehicle, and can intercom mutually.In certain embodiments, indirect communication can pass through network, such as LAN (LAN) or wide area network (WAN), as internet (Internet) realizes.In certain embodiments, indirect communication can pass through telecommunication network (3G or the 4G) realization of cellular network, data network or any type.System for cloud computing also goes for indirect communication.
In certain embodiments, indirect communication can not limit by communication distance or communication range for directly communicating.Indirect communication also by the restriction of sight line or barrier or the restriction that is subject to less.In certain embodiments, indirect communication can use at least one trunking to carry out secondary indirect communication.Described trunking include but not limited to, the trunking of satellite, router, communication tower, repeater or other any type.
The invention provides the indirect communication method between a kind of unmanned vehicle and delivery vehicle.Described indirect communication method comprises and utilizes mobile phone networking to communicate, such as 3G or 4G mobile telephone network communication.Described indirect communication needs at least one trunking between unmanned vehicle and delivery vehicle.When in delivery vehicle moving process, described indirect communication also can occur.
What can utilize directly communication and/or indirect communication between different objects is incorporated into Serial Communication arbitrarily.In one embodiment, all communication is all direct communication.In another embodiment, all communication is all indirect communication.Any communication connection can be expressed as directly communication connection or indirect communication connects.In certain embodiments, directly communication and indirect communication can switch mutually.Such as, can directly communicate between delivery vehicle and unmanned vehicle, indirect communication or directly switching between communication and indirect communication.Equipment described in the present embodiment (such as, delivery vehicle and unmanned vehicle) and trunking is (such as, satellite, communication tower, router, repeater, central server, computer, panel computer, mobile phone or other there is the equipment of processor and memory) between communication can directly communicate, indirect communication, or to switch between different communication modes.
In certain embodiments, just automatically communication pattern switching can be carried out without the need to manual intervention.At least one processor judges whether that carrying out directly communication and indirect communication switches.Such as, if the communication quality of AD HOC declines, system just can be switched to another kind of communication pattern from a kind of communication pattern.At least one processor described can be arranged on delivery vehicle, unmanned vehicle or external third-parties equipment.Delivery vehicle, unmanned vehicle and/or external third-parties equipment can judge whether switch communication mode.
In certain embodiments, system can provide a kind of preferred communication pattern.If the communication quality decline or unreliable of preferred communication pattern, then can be switched to other communication pattern and communicate.Preferred communication pattern can judge when switch back original preferred communication pattern from other communication pattern.In one embodiment, direct communication pattern can do preferred communication pattern.But if to fly away from delivery vehicle too far away or have barrier between unmanned vehicle and delivery vehicle for unmanned vehicle, direct communication pattern will be switched to indirect communication pattern.In certain embodiments, when needs carry out mass data transmission between unmanned vehicle and delivery vehicle, directly communication is as preferred communication pattern.In other embodiments, indirect communication can as preferred communication mode.If when unmanned vehicle and/or delivery vehicle need fast transport mass data, direct communication pattern can be switched to.In other embodiments, when unmanned vehicle flies away from delivery vehicle certain distance and needs to carry out safe and reliable communication, directly communication is as preferred communication mode.
When response instruction, the switching between communication pattern also can be carried out.Described instruction is provided by user, and user can be operator and/or the passenger of delivery vehicle, also can be the personnel controlling unmanned vehicle.
In certain embodiments, different communication patterns is applicable to communication dissimilar between unmanned vehicle and delivery vehicle.Described different communication pattern can side by side transmit dissimilar data.
Consulting shown in Figure 14, is the schematic diagram that the embodiment of the present invention sets forth communication stream between unmanned vehicle and delivery vehicle.Unmanned vehicle can intercom mutually with delivery vehicle.Such as, described unmanned vehicle can transfer instruction mutual to delivery vehicle.In certain embodiments, unmanned vehicle can transmitting image mutual to delivery vehicle.Unmanned vehicle can transmit the supplemental characteristic of unmanned aerial vehicle mutually with delivery vehicle.
Described unmanned vehicle can and described delivery vehicle between multiple communication unit can be provided.Such as, unmanned vehicle comprises instruction reception unit A, image transmitting element B and flight parameter transmitting element C.Said units is arranged on described unmanned vehicle.Delivery vehicle comprises instruction sending unit D, user instruction input block G, image receiving unit E, flight parameter receiving element F and monitor H.Said units is arranged on described delivery vehicle.
Delivery vehicle can sending controling instruction to unmanned vehicle.User inputs instruction from delivery vehicle end by user instruction input block G.User can be operator and/or the passenger of delivery vehicle, also can be the people controlling unmanned vehicle.User can Artificial Control unmanned vehicle in real time.User can select at least one instruction to be sent to unmanned vehicle, can independently and/or partly independently fly when unmanned vehicle receives instruction.In the process that delivery vehicle travels, user can control unmanned vehicle.In other embodiments, the user controlling unmanned vehicle can not be the driver of delivery vehicle.
Described user instruction input block G can be arranged on inside delivery vehicle.In certain embodiments, rear extended meeting describes in detail, and user instruction input block is as a part for delivery vehicle, and it can be fixed on delivery vehicle, and/or cannot disassemble from delivery vehicle.Described user instruction input block can be separated from delivery vehicle and/or disassemble.User instruction input block can arbitrarily carry out drawing in or pulling out from delivery vehicle.
Described user instruction input block can receive user's input by any way, and rear extended meeting describes in detail.In certain embodiments, described input can be contact input (such as, touch-screen, button, shift bar, slider, switch), voice signal (such as voice command), image recognition (such as gesture identification, eye recognition), position detecting (such as inertial sensor sense tilt, situation of movement etc.).
The command that user instruction input block G can send by instruction sending unit D is to unmanned vehicle.Described instruction sending unit can be wireless transmission or wire transmission information.The instruction reception unit A be arranged on unmanned vehicle can accept instruction.
In certain embodiments, can directly communicate between the instruction sending unit D of delivery vehicle and the instruction reception unit A of unmanned vehicle.Control instruction can be sent to unmanned vehicle by point-to-point direct communication pattern by delivery vehicle.
Described user can send the instruction of any type to unmanned vehicle.Instruction can control the motion of unmanned vehicle, the flight of control unmanned vehicle and control taking off and/or landing of unmanned vehicle.Instruction can be that the direct labor of unmanned vehicle motion controls.Described instruction directly corresponds to the multiple rotor wing rotation controlling unmanned vehicle.Described instruction can control the position of unmanned vehicle, direction, speed, angular speed, acceleration and/or angular acceleration.Described instruction can make unmanned vehicle increase flying height, reduces flying height or keep flying height, and unmanned vehicle also can be made to hover in overhead.Described instruction comprises the order initializing command sequence and the offline mode preset.Such as, initialize taking off and/or dropping on delivery vehicle of unmanned vehicle, initialize the AD HOC that unmanned vehicle flies relative to delivery vehicle.
Described instruction can control the parts of unmanned vehicle, such as load equipment or sensor.Such as, instruction can the operation of control load equipment.Instruction can Non-follow control load equipment operation and/or described load equipment is run according to predetermined manner.Described instruction can make load equipment automatically or semiautomation operation.Described instruction can change the direction of load equipment.Described instruction can make load equipment change relative to unmanned vehicle or keep direction.Described load equipment can along one or more, two or more, three or more axle rotate.Other function of load equipment also can be remotely controlled, such as, if when load equipment is camera, zoom operations can be controlled, whether be static Photographing Mode or dynamic video pattern, whether adjust any picture taking mode of image analytic degree and quality or other.In other embodiments, if load is lighting apparatus, instruction can control the angle of lighting apparatus, brightness, opens or closes lighting apparatus or control the flash mode of lighting apparatus.
Described instruction can control any sensor of unmanned vehicle.Such as, described instruction can control other parts any of gps receiver, inertial sensor, ultrasonic sensor, radar, wind-force survey device, temperature sensor, electromagnetic sensor or unmanned vehicle.Described instruction can make unmanned vehicle feed back the data of data about unmanned vehicle state or surrounding environment.
In certain embodiments, it is very important that the user on delivery vehicle reliably controls unmanned vehicle.Therefore, the instruction that described user sends reliably must control unmanned vehicle.In certain embodiments, instruction sending unit D can use frequency hopping (FHSS) technology with communicating of instruction reception unit A.Therefore, by selecting a carrier wave fast among many frequency channels, radiofrequency signal can be sent to instruction reception unit from instruction sending unit.In certain embodiments, signal instruction sequence is for by the pseudo-random sequence made known to transmitting element and instruction reception unit.Frequency hopping can resist carrier-in-interference, and spread-spectrum signal is difficult to intercept and capture also noise signal incoming carrier receiver as a setting.Frequency hopping can only have a small amount of interference with other conventional data transmission mode shared frequencies bandwidth.Spread-spectrum signal may add a small amount of noise and enter narrowband communication, and vice versa.
Unmanned vehicle provides view data to delivery vehicle.Described unmanned vehicle uses image capture apparatus (such as camera) to obtain image.Image transmitting element B sends images to image receiving unit E.Image can be presented on monitor H by described image receiving unit.Described image transmitting element is arranged on unmanned vehicle, and described image receiving unit is arranged on delivery vehicle.Described monitor is also arranged on delivery vehicle.
Image can be sent on delivery vehicle by the camera of unmanned vehicle in real time, and is presented on the monitor of delivery vehicle.Described image is absorbed by camera.Described camera is a kind of camera of high-res.Described camera the resolution of pickup image can be at least 1MP, 2MP, 3MP, 4MP, 5MP, 6MP, 7MP, 8MP, 9MP, 10MP, 11MP, 12MP, 13MP, 14MP, 15MP, 16MP, 18MP, 20MP, 24MP, 26MP, 30MP, 33MP, 36MP, 40MP, 45MP, 50MP, 60MP or 100MP.Alternatively, the resolution of described camera pickup image also can for being less than any one pixel value above-mentioned, also can scope between above-mentioned any two pixel values.According to instruction or environmental condition, the resolution that camera obtains image can be revised.Such as, the resolution of camera can be set as high-res pattern by user, also can be set as low-res pattern.
Described image can comprise still image (such as snapshot picture) also can comprise dynamic image (such as video flowing).Camera can obtain image by a video code rate.In other embodiments, described video code rate can be greater than 10Hz, 20Hz, 30Hz, 35Hz, 40Hz, 45Hz, 50Hz, 55Hz, 60Hz, 65Hz, 70Hz, 75Hz, 80Hz, 85Hz, 90Hz, 95Hz or 100Hz (hertz).Described video code rate can be less than any one value above-mentioned, also can be in the scope between above-mentioned two values.
Described camera can move relative to unmanned vehicle.Described camera is placed on support, this support can make described camera along one or more, two or more, three or more rotating shaft moves.Described support can allow camera direction translation to a direction, both direction, three directions or more, and described support also can not allow camera direction translation to a direction, both direction, three directions or more.In certain embodiments, described support comprises a The Cloud Terrace, rotates relative to other frame assembly and/or unmanned vehicle for allowing at least one frame assembly (frameassembly).The image frame needed for the picked-up of direction needing picked-up aimed at by described camera.
The image that described camera obtains can be sent by image transmitting element B.Described image transmitting element is arranged on unmanned vehicle.Described image transmitting element can as a part for camera.Such as, the camera of unmanned vehicle directly can send image.In other embodiments, described image transmitting element can directly be arranged on unmanned vehicle, instead of as the part of camera.Such as, image can be sent to an independent image transmitting element by described camera, then sends image by image transmitting element.Described camera can be connected to described image transmitting element by wired or wireless connected mode.
Image transmitting element B can send view data on delivery vehicle.Described image transmitting element can send information by wired mode or wireless mode.The image receiving unit E of described delivery vehicle can receive described view data.Described image receiving unit can be a part for delivery vehicle, may not be a part for delivery vehicle.Such as, described image receiving unit can disassemble from delivery vehicle and/or be separated with delivery vehicle.
In certain embodiments, between the image transmitting element B of unmanned vehicle and the image receiving unit E of delivery vehicle by direct communication mode transmit image data.Point-to-point direct communication mode can be applied to the image data transmission between unmanned vehicle and delivery vehicle.In other embodiments, indirect communication mode also may be used for the image data transmission between unmanned vehicle and delivery vehicle.
Alternatively, compared with the bandwidth shared by transfer instruction to unmanned vehicle, transmit image data needs to occupy more bandwidth.In certain embodiments, connection may need larger message transmission rate fast.Alternatively, stably transfer instruction data are more crucial relative to transmit image data to unmanned vehicle.Therefore, unmanned vehicle is so unimportant to the reliability of the communication connection of delivery vehicle.In certain embodiments, communication between described image transmitting element B and image receiving unit E can use P-2-P technology, such as WiFi communication, WiMax communication, COFDM communication, infrared ray (IR) communication, bluetooth (Bluetooth) communication, or the point-to-point communication of other any type.In certain embodiments, indirect communication technology can be adopted to communicate, such as Public Mobile Network or foregoing any communication network.
Alternatively, image data transmission can adopt single communication pattern.In other embodiments, different communication patterns can be switched according to the condition of detecting.Such as, image data transmission can be defaulted as direct communication pattern.But, when direct communication pattern becomes unreliable, direct communication pattern can be switched to indirect communication pattern and carry out data transmission.Again be defined as reliable once direct communication connection, communication pattern can be switched back direct communication pattern again and carry out data transmission.In other embodiments, do not provide the communication pattern of acquiescence, when detect current communication mode unavailable or unreliable time, communication pattern can automatically switch.When communication pattern switches, user may not be known.Or communication pattern can automatically switch, and does any input action without the need to user.Processor can according to data assessment whether switch communication mode.
The view data that described image receiving unit E receives may be displayed on monitor H.Described monitor can be embedded on delivery vehicle, and/or can be integrated on delivery vehicle.Described monitor is positioned on any parts of delivery vehicle.Described monitor can disassemble from delivery vehicle and/or be separated with delivery vehicle.Described monitor can take out in delivery vehicle, and described monitor also can not take out in delivery vehicle.Described monitor can be portable, may not be portable.Described image receiving unit and delivery vehicle can be wired connections, also can be wireless connections.
Described monitor comprises the user interface that can show data.Described user interface comprises display screen, the display screen of such as touch-screen or other type.Described monitor can show the view data received from image receiving unit.Described image comprises real-time still image and the live video stream of the camera picked-up of unmanned vehicle.The time delay of the described image that the described image display time on a monitor obtains than unmanned vehicle is below about 30 seconds, 20 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1.5 seconds, 1 second, 500 milliseconds, 300 milliseconds, 100 milliseconds, 50 milliseconds, 10 milliseconds, 5 milliseconds or 1 millisecond.Described image can with high-resolution display on a monitor, also can show on a monitor with low resolution.Described image can show on a monitor according to the resolution ratio of original picked-up, also can according to the resolution ratio display lower than original picked-up on a monitor.Described image can show on a monitor according to the image frame rate of original picked-up, also can according to the image frame rate display lower than original picked-up on a monitor.
On delivery vehicle, user can watch display image on a monitor, therefore, and the image that user can watch unmanned vehicle to obtain easily, thus allow the user on delivery vehicle can see the image in object or the place can not seen on delivery vehicle.Therefore, user can see the situation of surrounding environment on a monitor.
Unmanned vehicle can provide flight parameter data to delivery vehicle.Described flight parameter data comprise the data of the status information of unmanned vehicle and/or the sensor acquisition of unmanned vehicle.Flight parameter transmitting element C sends flight parameter data to flight parameter receiving element F.Described flight parameter receiving element can selectively by image display on monitor H.Described flight parameter transmitting element is arranged on unmanned vehicle.Described flight parameter receiving element is arranged on delivery vehicle.Alternatively, described monitor also can be arranged on delivery vehicle.
Flight parameter data can be sent on delivery vehicle in real time.Described flight parameter data or may be displayed on the monitor of delivery vehicle based on the information that described flight parameter data produce.Described flight parameter data comprise the data of the status data of unmanned vehicle and/or the sensor acquisition of unmanned vehicle.
In certain embodiments, described aircraft state data comprises the position data relevant to aircraft.Such as, position data comprises the position of aircraft (such as, longitude, latitude and/or height coordinate), heading (such as, pitch axis, course axle and/or roll axle), flying speed, flying angle speed, acceleration and/or angular acceleration.In certain embodiments, at least one inertial sensor and/or position sensor (such as GPS, vision sensor, radar, ultrasonic sensor) may be used for the position judging aircraft.The status information of described aircraft can comprise other data, the temperature of the temperature of such as aircraft or at least one parts of aircraft.At least one temperature sensor is for sensing the temperature of aircraft.The status information of described aircraft also comprises other data, the electricity of the battery of such as aircraft.The status information of described aircraft also comprises the fault message of the detecting fault message of aircraft and any parts of aircraft.Whether at least one parts whether at least one receiver that the status information of described aircraft also comprises aircraft can receive signal and aircraft operate according to expectation function.
The data of at least one sensor collection of aircraft can comprise the environmental data of aircraft periphery.Such as, described environmental data comprises temperature, wind speed and/or wind direction, pressure information, whether detects barrier, whether has any data that can be sensed by sensor of noise or signal disturbing or other.Aircraft sensor comprises, but be not limited only to, vision sensor, swash the sensor of radar, GPS, infrared ray sensor, sonar, ultrasonic sensor, inertial sensor (such as, accelerometer, gyroscope, magnetometer), Magnetic Sensor, electric-field sensor, sound transducer, microphone or other any type.
In certain embodiments, described flight parameter data are for controlling aircraft.In other embodiments, when receiving flight parameter data, produce at least one instruction.When think have received flight parameter data time, user can manually produce described instruction.In other embodiments, flight parameter data transformations can be become instruction by processor, and processor automatically produces instruction according to the flight parameter of aircraft.
Described flight parameter data can be sent by flight parameter transmitting element C.Described flight parameter transmitting element can be arranged on unmanned vehicle.Described flight parameter transmitting element can as a part for the sensor of unmanned vehicle or other parts.In other embodiments, described flight parameter transmitting element can be arranged on unmanned vehicle separately, instead of as the parts of sensor or other parts.Such as, flight parameter data can be sent to flight parameter transmitting element by sensor, then send out flight parameter data by flight parameter transmitting element.Described sensor can be connected to flight parameter transmitting element by wired or wireless connected mode.
Flight parameter transmitting element C can send flight parameter data on delivery vehicle.Described flight parameter transmitting element can be sent information on delivery vehicle by wired mode or wireless mode.Flight parameter receiving element F on delivery vehicle can receive described flight parameter data.Described flight parameter receiving element can be a part for delivery vehicle, may not be a part for delivery vehicle.Such as, flight parameter receiving element can disassemble from delivery vehicle and/or be separated with delivery vehicle.
In other embodiments, data are transmitted by direct communication mode between the flight parameter transmitting element C of described unmanned vehicle and the flight parameter receiving element F of described delivery vehicle.Point-to-point direct communication mode can be applied to the flight parameter data transmission between unmanned vehicle and delivery vehicle.In other embodiments, indirect communication mode also may be used for the flight parameter data transmission between unmanned vehicle and delivery vehicle.
In certain embodiments, communication between described flight parameter transmitting element C and described flight parameter receiving element F can use P-2-P technology, such as WiFi communication, WiMax communication, COFDM communication, infrared ray (IR) communication, bluetooth (Bluetooth) communication, or the point-to-point communication of other any type.In certain embodiments, indirect communication mode can be adopted to communicate, such as Public Mobile Network or foregoing any communication network.
In certain embodiments, Narrow Band Frequency Shift keying (FSK) modulation, GFSK Gaussian Frequency Shift Keying (GFSK) modulation or other modulation technique can be applied to data transmission.The discrete frequency by frequency modulation technology digital information being converted into carrier wave sends data.Or described flight parameter data can be embedded into viewdata signal (such as, being embedded into vision signal).
Alternatively, described flight parameter data can adopt single communication pattern.In other embodiments, different communication patterns can be switched according to the condition of detecting.Such as, the transmission of flight parameter data can be defaulted as direct communication pattern.But, when direct communication pattern becomes unreliable, direct communication pattern can be switched to indirect communication pattern and carry out data transmission.Again be defined as reliable once direct communication connection, communication pattern can be switched to again direct communication pattern to carry out the transmission of flight parameter data.In other embodiments, do not provide the communication pattern of acquiescence, when detect current communication mode unavailable or unreliable time, communication pattern can automatically switch.When communication pattern switches, user can not know.Or communication pattern can automatically switch, and does any input action without the need to user.Processor can according to data assessment whether switch communication mode.
It is critical step that flight parameter data are sent to delivery vehicle.Therefore, reliable connection must be provided.When the communication distance of unmanned vehicle and delivery vehicle exceedes point-to-point communication range (such as, the controlled range of controller) time, the communication means of a needs safety maintains the communication between aircraft and delivery vehicle, so that aircraft and delivery vehicle can know position each other.Therefore, in some cases, the communication between aircraft and delivery vehicle needs to use indirect communication method, and such as, mobile telephone network, can eliminate the communication range restriction using point-to-point communication to bring.
The flight parameter data that described flight parameter receiving element F receives may be displayed on monitor H.Described monitor can be embedded on delivery vehicle, and/or can be integrated on delivery vehicle.Described monitor is positioned on any parts of delivery vehicle.Described monitor can disassemble from delivery vehicle and/or be separated with delivery vehicle.Described monitor can take out in delivery vehicle, and described monitor also can not take out in delivery vehicle.Described monitor can be portable, may not be portable.Described flight parameter receiving element and described monitor can be wired connections, also can be wireless connections.Described display flight parameter data can use the monitor identical with showing view data to show.Or, also can utilize different displays separately display flight parameter data and view data.In certain embodiments, use a monitor for showing flight parameter data.Or, multiple monitor display parameter data can be used.
Described monitor comprises the user interface that can show data, and this user interface comprises display screen, the display screen of such as touch-screen or other type.Described monitor can show the flight parameter data that flight parameter receiving element receives.Described flight parameter data can show in real time.The time delay that the flight parameter data display time on a monitor produces flight parameter data than unmanned vehicle is less than general 30 seconds, 20 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1.5 seconds, 1 second, 500 milliseconds, 300 milliseconds, 100 milliseconds, 50 milliseconds, 10 milliseconds, 5 milliseconds or 1 millisecond.
User on described delivery vehicle can watch display flight parameter data on a monitor.Described flight parameter data can comprise word, numerical value and/or image.In one embodiment, the positional information of unmanned vehicle may be displayed on monitor.Such as, monitor can show a width and represent the map of unmanned vehicle relative to the positional information of delivery vehicle and/or geographical feature.Described geographical feature comprises road, building, city, river course, mountain villa or other environmental characteristic.Alternatively, described data can show the visual performance of unmanned vehicle, and cisco unity malfunction or at least one parts of breaking down on unmanned vehicle.In other embodiments, described data can comprise the vision instruction of the battery electric quantity situation of unmanned vehicle.
In certain embodiments, the communication between at least one parts of unmanned vehicle can use point-to-point communication mode with communicating of delivery vehicle.Indirect communication mode also goes for the communication between unmanned vehicle and delivery vehicle.For any communication means, can as spare communication method.In other embodiments, when unmanned vehicle and the distance of delivery vehicle exceed point-to-point communication scope or have barrier blocking to communicate, communication means for subsequent use just can be used to communicate.Such as, when affecting main COMMUNICATION METHODSA communication when there being noise jamming, communication means for subsequent use now just can be used to communicate.When main communication means is unavailable, communication means for subsequent use now also can be used to communicate.When the unreliable or communication quality that main communication means becomes declines, communication means for subsequent use now also can be used to communicate.
With reference to shown in Figure 15, it is the schematic diagram that the embodiment of the present invention sets forth unmanned vehicle (UAV) control unit.UAV control unit can as a part for delivery vehicle.Described UAV control unit just can be fixed on delivery vehicle by during manufacturer production.Described UAV control unit can be integrated on delivery vehicle, and/or is designed to be separated with delivery vehicle or to remove from delivery vehicle.Described UAV control unit also can be embedded in parts of delivery vehicle.
Described UAV control unit can be a kind of user's input element, for receiving the instruction of user's input control unmanned vehicle and parts thereof.The user instruction that described UAV control unit receives can control the flight of unmanned vehicle.Described user instruction comprises the flight of Non-follow control unmanned vehicle.Such as, user directly can control the position (such as, latitude, longitude, highly) of unmanned vehicle, direction, speed, angular speed, acceleration and/or angular acceleration.Described user instruction can initialize the command sequence of the predetermined flight of unmanned vehicle.Such as, described user instruction can control unmanned vehicle and takes off from delivery vehicle.Described user instruction also can control unmanned vehicle landing and/or be accommodated on delivery vehicle.Described user instruction can control unmanned vehicle and fly by preset path relative to delivery vehicle, and controls unmanned vehicle with auto state or the flight of semi-automatic state.
As previously mentioned, described user instruction can control any parts of unmanned vehicle.Such as, UAV control unit can receive user's input of the load equipment for controlling unmanned vehicle, other parts of the support of described load equipment such as camera or lighting apparatus, unmanned vehicle, at least one sensor or unmanned vehicle.In certain embodiments, described user instruction can the position of control load equipment, sensor device or other any parts, and the operation of control load equipment, sensor device or other any parts.The instruction input that described UAV control unit can receive single type also can receive multiple instruction input.
Described UAV control unit can be embedded in delivery vehicle.Such as, as shown in fig. 15 a, described UAV control unit comprises at least one user's input element, and it is embedded on the steering wheel of delivery vehicle.Described steering wheel, for controlling the direction of delivery vehicle, can rotate along an axle.Described axle is through the central area of steering wheel.Such as, steering wheel 1510 comprises at least one user key-press 1520a, 1520b, for receiving the input of user.Described user's input element can be user interface or the input equipment of any type.Such as, described user's input element can be button, switch, knob, shift bar, trace ball, mouse, keyboard, touch pads, touch-screen, cursor, image capture apparatus, lighting apparatus, microphone, inertial sensor or other user's input element and combination thereof.Described user's input element can be Wearable user input device.Such as, user's input element can be dressed by the driver of delivery vehicle and/or passenger, such as, can be worn on head, face, neck, arm, wrist, leg or foot etc.
User's input can be any type of input from user.Such as, described user's input can for touching input, phonetic entry, gesture identification input, Facial expression recognition input, user's body direction or location recognition input or other user any input.Described user input can use under the exercisable state of delivery vehicle, can input when delivery vehicle travels, and also can input under static or idle state at delivery vehicle.User's input can input in the process of the process of operation delivery vehicle, drive vehicle.Alternatively, described user's input can be inputted by the passenger of delivery vehicle.Described input can be provided when user is inside delivery vehicle.
Consulting shown in Figure 15 B, is the schematic diagram of UAV control unit.Such as, a steering wheel 1510 can be comprised, and it can not comprise user's input element.Delivery vehicle comprises display floater 1530.Alternatively, described display floater can be embedded in delivery vehicle.Described display floater also can be integrated on the display screen of delivery vehicle.Or described display floater also can disassemble from delivery vehicle.At least one user's input element 1540a, 1540b can be set on a display panel.Described user's input element can be positioned at touch area, is convenient to user and touches input user instruction.
In other embodiments, described user's input element can be embedded in any parts of delivery vehicle, any other parts of the steering wheel of such as delivery vehicle, instrument board, monitor, seat, door and window, rearview mirror, shift bar, door-plate, pedal, car bottom plate, teacup base or delivery vehicle.Such as, user's input element can be embedded in the shift bar user for gear shift.Such as, driver can operate shift bar and make delivery vehicle switching driving model, reversing or gear shift.The position that driver's arm that described user's input element can be arranged on delivery vehicle can touch.The position that passenger's arm that described user's input element can be arranged on delivery vehicle can touch.Described user's input element can be arranged on the position that the driver of delivery vehicle and/or passenger's feet can be touched.Described family input element is in the sight line visual range of driver and/or passenger.As driver and/or passenger's face forward, user's input element is in the visual range of driver and/or passenger.In one embodiment, described user's input element can be arranged on and depart from without the need to pilot's line of vision the position that route ahead just conveniently can input instruction, and the Position Design of this user's element can make driver safety operate delivery vehicle.
In one embodiment, when user inputs instruction by the user's input element on steering wheel, user can keep sight line on driving path and both hands hold steering wheel.In certain embodiments, user can carry out the instruction of direct input control unmanned vehicle flight by direction of operating dish.Such as, perform one and specifically control to cause unmanned vehicle to regulate flight angle, speed and/or acceleration (space and/or rotation), its regulating degree depends on the control of described execution.During Non-follow control unmanned vehicle, the instruction of user's input and the corresponding instruction relation of unmanned vehicle can be suitable for any linear relationship, exponential relationship, inverse function relation or other any relation.
In other embodiments, pressing button and other simple inputs can control unmanned vehicle and perform predetermined command sequence.In other embodiments, press the first button 1520a and unmanned vehicle can be made to take off from delivery vehicle, and press the second button 1520b unmanned vehicle can be made to drop on delivery vehicle.In other embodiments, the first button can control unmanned vehicle and fly according to the first offline mode relative to delivery vehicle, and the second button can control unmanned vehicle and fly according to the second offline mode relative to delivery vehicle.This can make unmanned vehicle perform complicated flare maneuver and manipulate without the need to user, thus can make the wholwe-hearted drive vehicle of driver.
In addition, delivery vehicle also provides other remote control elements.Such as, except taking off and return push-button, delivery vehicle can provide a set of control lever.In certain embodiments, described control lever can be operated by driver, also can by passenger operation.In certain embodiments, driver behaviour and passenger can operate described control lever.Driver or passenger are according to the view data on the monitor of delivery vehicle and control aircraft by described operation control lever.Described control lever can be fixed on certain position of delivery vehicle, also can move by certain parts on delivery vehicle.Such as, control lever can transmit use between the operator in delivery vehicle mutually.
Simple input does not need the operation of user's complexity, comprises pressing button, touch touch-screen, change-over switch, phonetic entry, simple gesture input, countenance inputs or other can make unmanned vehicle make any simple input of response.In certain embodiments, simple input comprises single-point touch input or one action input.Such as, the part pressing single button or touch touch-screen just can form simple input and control unmanned vehicle and parts thereof.
As previously mentioned, described user's input element can be the parts of delivery vehicle.Described user's input element can for good and all be fixed on delivery vehicle, and/or is designed to disassemble from delivery vehicle.When producing delivery vehicle, just user's input element can be embedded on delivery vehicle.Or existing delivery vehicle can install user's input element additional.In certain embodiments, at least one parts of delivery vehicle can disassemble and carry out upgrading to user's input element.Such as, common handle can repack the new direction dish with user's input element into, to control unmanned vehicle.In other embodiments, the parts of delivery vehicle can increase extra structure to arrange user's input element.Such as, existing steering wheel can add a steering wheel shade, such as, to make it having user's input block, button.In another embodiment, an action bars shade can be provided to install at least one user's input element thereon additional.
In other embodiments, the software systems of delivery vehicle can be upgraded.User by described user's input element input can be inputted the data converted to for controlling unmanned vehicle by described software systems.Such as, delivery vehicle has a built-in display.Display user's input element after the software for display upgrading of this display, may be used for receiving user and inputs and be converted into the instruction controlling unmanned vehicle.In other embodiments, delivery vehicle has button or other parts, and its software systems can be upgraded, and receives user and inputs and be converted into the instruction controlling unmanned vehicle.
Therefore, delivery vehicle comprises at least one hardware component to receive the user's income for controlling unmanned vehicle.Delivery vehicle comprises at least one processor for performing user input instruction, and is converted into the control instruction controlling unmanned vehicle.
The control method of unmanned vehicle comprises step: receive the unmanned vehicle control inputs signal inputted by least one user's input element from user, described user's input element is a part for delivery vehicle; And utilize processor to produce the instruction of a control unmanned vehicle operation according to the unmanned vehicle control signal that user inputs.Described user's input element receives user's input, and transmits a signal on the controller of delivery vehicle.The controller of delivery vehicle comprises at least one processor, jointly or individually, performs any step of foregoing description.Said method step is stored in computer-readable medium with the form of code or logical order, for performing at least one step above-mentioned.Described computer-readable medium can be stored in and be arranged in a memory.Described memory is arranged on described delivery vehicle.Described controller inputs generation control signal according to user, and sends to unmanned vehicle.Such as, controller can calculate the command signal for directly controlling unmanned vehicle and parts thereof.In other embodiments, controller can pretreatment and/or delay by input block input instruction send unmanned vehicle to.Controller on described unmanned vehicle responds the signal of delivery vehicle transmission and produces command signal.Delivery vehicle has the communication unit carrying out with the controller of delivery vehicle communicating, and unmanned vehicle also has the communication unit carrying out with the controller of unmanned vehicle communicating.
The communication unit of described delivery vehicle can intercom mutually with the communication unit of unmanned vehicle.Described communication comprises radio communication, directly communication or indirect communication.Described communication unit can switch between different communication patterns.Described communication unit can provide one-way communication (such as from unmanned vehicle to delivery vehicle, or from delivery vehicle to the one-way communication of unmanned Fetion device).Described communication unit can provide the two-way communication between unmanned vehicle and delivery vehicle.In certain embodiments, also multiple communication unit can be had between unmanned vehicle and delivery vehicle.Described different communication unit for transmit dissimilar data or carry out different directions data transmission.In other embodiments, single communication unit also can transmit dissimilar data or carry out the data transmission of different directions.
Display 1530 can be arranged on delivery vehicle.Described display can in the inside of delivery vehicle.Described display can be a part for any parts of delivery vehicle.Such as, display can be embedded in any other parts of instrument board, door and window, rearview mirror, seat or delivery vehicle.The position that the arm that described display can be arranged on driver and/or passenger can touch.Described display can be placed in the visual range of driver and/or passenger.As driver and/or passenger's face forward, described display is in the visual line of sight of driver and/or passenger.
When producing delivery vehicle, can using the part of display as delivery vehicle.Described display can be installed on delivery vehicle.In other embodiments, existing delivery vehicle can install display additional.Described display can for good and all be fixed on delivery vehicle, and/or is designed to be separated with delivery vehicle and/or to disassemble from delivery vehicle.Described display can be integrated in some parts of delivery vehicle.In other embodiments, described display can be removable and/or separate from delivery vehicle.Described display can be attached to the display connecting portion of delivery vehicle.Described display connecting portion is a kind of element of the compensation type for accommodating display.Described display connecting portion can comprise electric power connector, also can not comprise electric power connector, and described electric power connector is used for other parts of delivery vehicle and display to be electrically connected.Such as, display can be electrically connected to the communication unit of delivery vehicle by electric power connector.When the communication unit of delivery vehicle receives image or other data, by electric power connector, image or data are sent to display.
In one embodiment, moveable or separable display can be the mobile device of user.Such as, described mobile device comprises, smart phone (such as the cell phone type such as iPhone mobile phone, Galaxy, Blackberry, Windowsphone), panel computer (such as, iPad, Galaxy panel computer etc.), notebook computer (laptop), PDA equipment or other mobile electronic device.Described display can be placed on user on hand or on knee.Alternatively, display can be placed on the base of delivery vehicle, and it can support displays.Compared to other parts of delivery vehicle, described base can display described in physical support.Base can provide extra electrical connection and/or data cube computation between display and delivery vehicle.Described base also can not provide extra electrical connection and/or data cube computation between display and delivery vehicle.
Described display can show the data message from unmanned vehicle.This display can be the visual monitor of vehicle interior.Such as, display can show the view data that unmanned energy aircraft obtains.Alternatively, described view data is display in real time.Such as, if the camera shooting of unmanned vehicle, described display can show live video stream.Described display also can show the information relevant to unmanned vehicle, the status information of such as unmanned vehicle.
The information that described unmanned vehicle is correlated with comprises the environmental information around aircraft, and such as, environmental condition, comprises temperature information, wind speed and/or wind direction, weather condition, rainfall, pressure information.Alternatively, described display can show a width map, and this map indicates the position of unmanned vehicle relative to delivery vehicle and/or the position of at least one geographical feature.The position of described unmanned vehicle and/or the position of delivery vehicle can real-time update.Therefore, user can follow the tracks of unmanned Fetion device and/or delivery vehicle each other under geographical environment motion conditions.The position of described unmanned vehicle and/or delivery vehicle can real-time update.Therefore, user can follow the trail of described unmanned vehicle and/or how delivery vehicle moves in residing geographical environment, or how to move each other.Alternatively, described display can also demonstrate the state of at least one parts in unmanned vehicle.Such as, when at least one parts in unmanned vehicle make a mistake or fault time, fault message may be displayed on display.In certain embodiments, described display can also show the charge condition of the battery of unmanned vehicle.
Except the information that display unmanned vehicle is relevant, described display can also show the information of delivery vehicle.Such as, described display can show the positional information of delivery vehicle.Described display also can show the environmental information around delivery vehicle.Environmental information around described delivery vehicle, comprises temperature information, wind speed and/or wind direction, weather condition, rainfall or pressure information etc.Described display can show other information around described delivery vehicle.Such as, described display can show a width map, and this map comprises road, building, city, river course, mountain villa or other environmental characteristic.Described display can also be used for the navigation of delivery vehicle.Described display can provide path navigation for delivery vehicle.Described display also can show other information of delivery vehicle, as the fault message of fuel service efficiency, fuel service condition and/or battery electric quantity, vehicle component, low electricity, engine engine information, stop information and other any information relevant to delivery vehicle.
Described display also can show the information relevant with the bus stop of delivery vehicle.Such as, if the bus stop of delivery vehicle breaks down, display can show the fault message of delivery vehicle bus stop.In certain embodiments, whether the shade that described display can also show bus stop is opened or closes.Whether described display can also show whether unmanned vehicle is current rests on delivery vehicle, or in the middle of flight, and whether delivery vehicle lands has unmanned vehicle.In certain embodiments, delivery vehicle is provided with image acquisition equipment, and it is for obtaining the image of bus stop.Therefore, the image of bus stop may be displayed on the display of delivery vehicle, thus helps user can observe the state of the bus stop of delivery vehicle.
Display can show information in real time, and information also can interiorly at any time show, and periodically can upgrade the information of display.In operation delivery vehicle process and/or in delivery vehicle driving process, information can show over the display.When unmanned vehicle drops on delivery vehicle and/or from take-off process delivery vehicle, information also may be displayed on display.In unmanned vehicle flight course, information also may be displayed on display.
Described display can show user's input block 1540a, 1540b, and such as, touch-screen shows at least one can for the touch area of user's input.Described user's input block can be simultaneously displayed on display with information.In one embodiment, user can input control unmanned vehicle flight instruction.Described display shows the video flowing that unmanned vehicle obtains in real time.Therefore, user can the response condition that inputs user to unmanned vehicle of Real Time Observation.
In certain embodiments, delivery vehicle only provides individual monitor.The information of any type is all presented on this individual monitor.In certain embodiments, described display can show the combination of the information of any type.Alternatively, described display comprises user's input block.In certain embodiments, delivery vehicle is provided with multiple display.Described multiple display has any feature of aforementioned description.In certain embodiments, some displays can for good and all be fixed on delivery vehicle, and other displays can disassemble from delivery vehicle.These displays individually or in combination, can show aforesaid any categorical data information.In certain embodiments, different displays shows dissimilar information.Such as, the first display display is from the image stream of unmanned vehicle, and the positional information of second display display unmanned vehicle and/or delivery vehicle.Alternatively, the information of the bus stop of the 3rd display display delivery vehicle.The present embodiment can arrange any amount of display, such as delivery vehicle can arrange one or more, two or more, three or more, four or more, five or more, six or more, seven or more, eight or more, nine or more, ten or more displays.Described multiple display can show identical information, also can show different information.Described multiple display can show the information of identical type, also can show dissimilar information.Described multiple display can show the information about unmanned vehicle, surrounding environment, delivery vehicle, bus stop and/or wherein any parts.
System of the present invention, apparatus and method can be applied to and can be widely used in various loose impediment.As previously mentioned, any description about air vehicle, as unmanned vehicle, can be applicable to the loose impediment of any type.Any description about aircraft can refer in particular to unmanned vehicle.Loose impediment of the present invention may be used for moving in any suitable environment, such as in atmosphere (such as, Fixed Wing AirVehicle, rotor craft or neither there is the aircraft that fixed-wing does not have rotor yet), in water (such as, boats and ships or submarine), on the ground (such as, motor vehicle, such as car, truck, bus, van, motorcycle; Removable frame or framework, such as club, fishing rod; Or train), underground (such as, subway), space (such as, space shuttle, satellite, detector), or any combination of these environment.Loose impediment can be delivery vehicle, such as other delivery vehicles described everywhere of this paper.Loose impediment can be arranged on it the such as live body such as the mankind or animal.Suitable animal can comprise bird, dog class, cat class, horse class, bovine, sheep class, Swine, dolphin, rodent or insect.
Described loose impediment can in described environment relative six-freedom degree (such as, three translation freedoms and three rotary freedoms) and moving freely.Or the movement of loose impediment can suffer restraints about at least one free degree, such as retrained by predefined paths, track or direction.Described motion can be activated by any suitable actuating mechanism such as such as engine or motor etc.The actuating mechanism of loose impediment can provide power by any suitable energy, such as electric energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or their any appropriate combination.Loose impediment can as herein other everywhere as described in, the self-improvement via propulsion system.Described propulsion system can rely on the energy to run alternatively, and the described energy is such as electric energy, magnetic energy, solar energy, wind energy, gravitational energy, chemical energy, nuclear energy or their any appropriate combination.Or loose impediment can entrained by biology.
In some cases, described loose impediment can be aircraft.Such as, described aircraft can be Fixed Wing AirVehicle (such as, aircraft, aerodone), rotor craft (such as, helicopter, rotor craft), have simultaneously fixed-wing and rotor aircraft or not only without fixed-wing but also without the aircraft (such as, dirigible, fire balloon) of rotor.Described aircraft can be self-improvement formula, such as, advanced by air.Described self-improvement formula aircraft can adopt propulsion system, and described propulsion system comprises the propulsion system of at least one engine, motor, wheel, wheel shaft, magnet, rotor, screw, blade, nozzle or their any appropriate combination.In some cases, described propulsion system may be used for that loose impediment is taken off from surface, drops on the surface, maintains its current location and/or direction (such as, hovering), change direction and/or change position.
Described loose impediment can by user's remote control or by inner by mobile article or on occupant this locality control.Described loose impediment can by the occupant's Long-distance Control in an independent delivery vehicle.In certain embodiments, loose impediment is unmanned loose impediment, such as unmanned vehicle (UAV).This unmanned loose impediment, such as, within unmanned vehicle can without any user.This loose impediment by people or automatic control system (such as, computer control system), or wherein can combine arbitrarily, controlled.Described loose impediment can be the robot of automation or semi-automation, such as, is furnished with the robot of artificial intelligence.
Loose impediment can have any suitable size and/or size.In some embodiments, loose impediment can have the class occupant that can tolerate towards others to be within delivery vehicle or on size and/or size.Or, loose impediment can have to be within delivery vehicle than the class occupant that can tolerate towards others or on size and/or the less size of size and/or size.Loose impediment can have the size and/or size that are suitable for being carried by the mankind or carrying.Or loose impediment can have than the size being suitable for being carried by the mankind or carrying and/or the larger size of size and/or size.In some cases, loose impediment can have full-size (such as, length, width, highly, diameter, diagonal) be less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.Described full-size can be more than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.Such as, the distance between the axle of the relative rotor of loose impediment can be less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.Or the distance between the axle of relative rotor can be more than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.
In some embodiments, loose impediment can have and is less than 100cmx100cmx100cm, is less than 50cmx50cmx30cm or is less than the volume of 5cmx5cmx3cm.The cumulative volume of loose impediment can be less than or equal to about: 1cm
3, 2cm
3, 5cm
3, 10cm
3, 20cm
3, 30cm
3, 40cm
3, 50cm
3, 60cm
3, 70cm
3, 80cm
3, 90cm
3, 100cm
3, 150cm
3, 200cm
3, 300cm
3, 500cm
3, 750cm
3, 700cm
3, 5000cm
3, 10,000cm
3, 100,000cm
3, 1m
3or 10m
3.On the contrary, the cumulative volume of loose impediment can be more than or equal to about: 1cm
3, 2cm
3, 5cm
3, 10cm
3, 20cm
3, 30cm
3, 40cm
3, 50cm
3, 60cm
3, 70cm
3, 80cm
3, 90cm
3, 100cm
3, 150cm
3, 200cm
3, 300cm
3, 500cm
3, 750cm
3, 700cm
3, 5000cm
3, 10,000cm
3, 100,000cm
3, 1m
3or 10m
3.
In some embodiments, the floor space (this cross-sectional area that finger can be made to be surrounded by described loose impediment) that loose impediment can have is less than or equal to about: 2,000cm
2, 20,000cm
2, 10,000cm
2, 1,000cm
2, 500cm
2, 100cm
2, 50cm
2, 10cm
2or 5cm
2.On the contrary, described floor space can be more than or equal to about: 2,000cm
2, 20,000cm
2, 10,000cm
2, 1,000cm
2, 500cm
2, 100cm
2, 50cm
2, 10cm
2or 5cm
2.
In some cases, loose impediment is no more than 1000kg heavily.The weight of loose impediment can be less than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.On the contrary, described weight can be more than or equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg, 35kg, 30kg, 25kg, 20kg, 15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or 0.01kg.
In some embodiments, the load compared entrained by described loose impediment of loose impediment is little.As hereafter be described in further detail, described load can comprise load and/or The Cloud Terrace.In some instances, the weight of loose impediment can be greater than with the ratio of load weight, be less than or equal to about 1:1.In some cases, the weight of loose impediment can be greater than with the ratio of load weight, be less than or equal to about 1:1.Alternatively, The Cloud Terrace weight can be greater than with the ratio of load weight, be less than or equal to about 1:1.When needed, the weight of loose impediment can be less than or equal to the ratio of load weight: 1:2,1:3,1:4,1:5,1:10 or even less.On the contrary, the weight of loose impediment also can be more than or equal to the ratio of load weight: 2:1,3:1,4:1,5:1,10:1 or even larger.
In some embodiments, loose impediment has low energy consumption.Such as, loose impediment can use and be less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.In some cases, the carrier of loose impediment has low energy consumption.Such as, described carrier can use and be less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.Alternatively, the effectively negative delivery vehicle of loose impediment has low energy consumption, is such as less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or less.
Described in reference diagram 16, be the schematic diagram of unmanned vehicle in the embodiment of the present invention (UAV) 1600.The example of the present embodiment using unmanned vehicle 1600 as a loose impediment.This unmanned vehicle 1600 comprises power propulsion system, and it has four motors 1602,1604,1606 and 1608.Any amount of motor (such as one, two, three, four, five, six or more) can be provided.The motor of described unmanned vehicle, electric machine assembly or other power propulsion system can make unmanned vehicle hover in the air/keep flight position, change of flight direction and/or change of flight position.Distance between the axle of relative screw can be any suitable length 1610.Such as, length 1610 can be less than or equal to 2m, or is less than or equal to 5m.In certain embodiments, length 1610 can one of them in following scope: 40cm ~ 1m, 10cm ~ 2m or 5cm ~ 5m.Other any description about unmanned vehicle is all suitable for loose impediment, such as dissimilar loose impediment, and vice versa.Unmanned vehicle can use described assisted takeoff system and method.
In certain embodiments, loose impediment can carry load, described load comprise between passenger, goods, equipment, instrument etc. one or more.Load is placed in accommodation apparatus, and this accommodation apparatus can be separated with the accommodation apparatus of mobile object, or can be a part for mobile object accommodation apparatus.Or load provides accommodation apparatus, and loose impediment does not have accommodation apparatus.Or a part or the whole load of load all can not have accommodation apparatus.Load can directly be fixed in loose impediment.Selectively, load can be moved relative to loose impediment (such as can carry out translation or rotation relative to loose impediment).Described load comprises load equipment and/or The Cloud Terrace.
In certain embodiments, loose impediment, The Cloud Terrace and load equipment are relative to permanent datum (such as surrounding environment) and/or all can be controlled by remote terminal each other.Described terminal can be one and have the remote controllers of specific range from loose impediment, The Cloud Terrace and load equipment.Described terminal can fix or depend in support platform.Or described terminal can be hand portable equipment or wearable device.Such as, described terminal can be mobile phone, panel computer, desktop computer, personal computer, glasses, gloves, helmet cap, microphone or and combination.Described terminal comprises user interface, such as keyboard, mouse, control stick, touch-screen or display.Any suitable user input device can be used for and terminal interaction, such as, manually input instruction, Voice command, gesture controls or position control (such as, carrying out position control by the movement of terminal, position and tilt variation).
Described terminal is for controlling the state of loose impediment, The Cloud Terrace and/or load equipment.Such as, described terminal can control loose impediment, The Cloud Terrace and/or load equipment relative to reference point and/or direction each other and/or position.In certain embodiments, described terminal for controlling the Individual elements of loose impediment, The Cloud Terrace and/or load equipment, such as, the signal projector of the driving element of The Cloud Terrace, the sensor of load equipment or load equipment.Terminal comprises and is suitable at least one and can carries out with loose impediment, The Cloud Terrace or load equipment the Wireless Telecom Equipment that communicates.
Described terminal comprises suitable display unit, for showing the information of loose impediment, The Cloud Terrace and/or load equipment.Such as, described terminal may be used for showing loose impediment, the position of The Cloud Terrace and/or load equipment, point-to-point speed, translational acceleration, direction, angular speed or these combined informations.In certain embodiments, terminal can show the information (such as the image of video camera or other image acquisition equipment record) provided by load equipment.
Alternatively, identical terminal can control loose impediment, the motion of The Cloud Terrace and/or load equipment and state thereof simultaneously, also can receive and/or show the information of loose impediment, The Cloud Terrace and/or load equipment.Such as, terminal can control load equipment relative to the position of surrounding enviroment, the image that load equipment obtains can be shown, or the positional information of display load equipment simultaneously.Or different terminals has different functions.Such as, first terminal can control the motion of loose impediment, The Cloud Terrace and/or load equipment, and the second terminal can receive and/or show the information of loose impediment, The Cloud Terrace and/or load equipment.Such as, first terminal is used for the position of control load equipment relative to surrounding enviroment, and the image that the second terminal obtains for showing load equipment.Various communication pattern can be used between loose impediment and terminal to control loose impediment and to receive data, or various communication pattern can be used between loose impediment and multiple terminal to control loose impediment and to receive data.Such as, at least two different communication patterns are used for receiving data between loose impediment and the terminal controlling loose impediment.
As described in Figure 17, be the schematic diagram of loose impediment 1700 in the embodiment of the present invention.In the present embodiment, loose impediment 1700 comprises The Cloud Terrace 1702 and load equipment 1704.Although loose impediment 1700 is described to aircraft, this description is not limitation of the present invention, and as previously mentioned, the loose impediment of any suitable type all can be applicable to the present invention.It will be appreciated by those skilled in the art that the content that the present embodiment describes aerocraft system can be applicable to any suitable loose impediment, such as unmanned vehicle (UAV).In other embodiments, load equipment 1704 directly can be placed in loose impediment 1700 without the need to The Cloud Terrace 1702.Loose impediment 1700 comprises propulsive mechanism 1706, sensing system 1708 and communication system 1710.
As previously mentioned, propulsive mechanism 1706 comprises at least one rotor, propeller, propeller blade, engine, motor, wheel, rotating shaft, magnet or puff prot etc.Loose impediment can have one or more, two or more, three or more, a four or more propulsive mechanism, described propulsive mechanism can have identical type.Or described propulsive mechanism can have different types.In certain embodiments, described propulsive mechanism 1706 can use any support component to be fixed in loose impediment 1700.Described propulsive mechanism 1706 can be fixed on any proper site of loose impediment 1700, such as, and the top of loose impediment, bottom, front portion, rear portion, sidepiece or and binding site.
In certain embodiments, described propulsive mechanism 1706 can make loose impediment 1700 directly take off or vertical landing perpendicular to ground without the need to any sliding horizontal (such as without the need to dragging track).Alternatively, described propulsive mechanism 1706 can control loose impediment 1700 and aloft hovers according to the position of specifying and direction.Described loose impediment 1700 can be controlled by single propulsive mechanism.Or loose impediment 1700 can be controlled by multiple propulsive mechanism simultaneously.Such as, loose impediment 1700 has multiple rotor, and it can make loose impediment take off and/or diving flight.Described rotor can make that loose impediment 1700 is taken off vertically, vertical landing and hovering.In certain embodiments, at least one rotor can according to turning clockwise, and other or multilevel rotor can according to being rotated counterclockwise.Such as, the rotor quantity turned clockwise equals the rotor quantity be rotated counterclockwise.The rotary speed of rotor independently changes the landing that change controls loose impediment, therefore the air position of loose impediment 1700, flying speed and/or acceleration while rotating up with 3 angles (such as, upwards overturn with 3 angles or) can be regulated.
Described sensing system 1708 comprises at least one sensor, for sensing the air position of loose impediment 1700, flying speed and/or acceleration while rotating up with 3 angles (such as, upwards overturn with 3 angles or).Described sensor comprises GPS sensor, movable sensor, inertial sensor, range sensor or imageing sensor.The sense data that sensing system 1708 obtains is used for, such as, pass through the air position of control unit and/or control module control loose impediment 1700, flying speed and/or acceleration.Or sensing system 1708 obtains the ambient data of loose impediment 900, such as, distance between weather condition and barrier and geographical position etc.
Described communication system 1710 can be communicated with the terminal 1712 with communication system 1714 by wireless signal 1716.Communication system 1710,1714 comprises any amount of transmitter for radio communication, receiver and/or transceiver.Described communication can be one-way communication, and data like this can be transmitted with single direction.Such as, one-way communication only relates to loose impediment 1700 and sends data to terminal 1712, or terminal 1712 sends data to loose impediment 1700.Or described communication also can be two-way communication, and data like this can carry out transmitted in both directions between loose impediment 1700 and terminal.Two-way communication refers to that at least one transmitter from communication system 2710 sends data at least one receiver of communication system 1714, or refers to that at least one transmitter from communication system 2714 sends data at least one receiver of communication system 1710.
In certain embodiments, described terminal 1712 provides control data at least one in loose impediment 1700, The Cloud Terrace 1702 and/or load equipment 1704, and receive the information (positional information, the mobile message of such as, loose impediment 1700, The Cloud Terrace 1702 and/or load equipment 1704 that send from least one loose impediment 1700, The Cloud Terrace 1702 and/or load equipment 1704; And the view data of the data of load equipment sensing such as video camera acquisition).In some instances, the control data carrying out self terminal comprises the instruction for controlling loose impediment, The Cloud Terrace and/or the motion of load equipment position and action.Such as, described control data can revise position and the direction of loose impediment by the driving of propulsive mechanism 1706, or by the motion of The Cloud Terrace 1702 control load equipment relative to loose impediment.The control data carrying out self terminal can control load equipment, such as, control the operation (such as obtain static or dynamic image, zoom in or out focal length, open or close camera function, regulate resolution ratio, focus, regulate the depth of field, regulate the time for exposure and regulate field-of-view angle or direction, the visual field) of video camera or other vision facilities.In some instances, the information from least one sensor (such as, sensing system 1708 or load equipment 1704) is comprised from the communication of loose impediment, The Cloud Terrace and/or load equipment.Described communication comprises the information obtained from least one dissimilar sensor, such as GPS sensor, movable sensor, inertial sensor, range sensor or imageing sensor.These information comprise loose impediment, the positional information (such as place and direction) of The Cloud Terrace and/or load equipment, mobile message or acceleration information.Information from load equipment comprises the data of load equipment acquisition or the state of complex device.The control data that loose impediment 1712 sends is for controlling the state of at least one loose impediment 1700, The Cloud Terrace 902 and/or load equipment 1704.Preferably, The Cloud Terrace 1702 and/or load equipment 1704 comprise the communications module communicated with terminal 1712, and so, terminal can control each loose impediment 1700 communicated with, The Cloud Terrace 1702 and/or load equipment 1704 independently.
In certain embodiments, described loose impediment 1700 can communicate with other remote control equipment except terminal 1712.Terminal 1712 also can communicate with other remote equipment with loose impediment 1700.Such as, loose impediment 1700 and/or terminal 1712 can communicate with other loose impediment or with the The Cloud Terrace of other loose impediment or load equipment.As required, remote equipment can be the second terminal or other calculation element (such as computer, desktop computer, panel computer, mobile phone or other mobile device).Remote equipment sends data to loose impediment 1700, receives the data from loose impediment 1700, sends data to terminal 1712, and/or receives the data of self terminal 1712.Preferably, remote equipment can be connected to internet or other communication network, and so like this, the data from loose impediment 1700 or terminal 1712 can upload on website or server.
As shown in figure 18, be a kind of block diagram of loose impediment control system 1800 of the embodiment of the present invention.Described loose impediment control system 1800 can be applied to system, the device and method that any embodiment of the present invention discloses, and this system 1800 comprises sensing module 1802, processing unit 1804, computer-readable medium 1806, control module 1808 and communication module 1810.
Described sensing module 1802 uses different sensors to collect the relevant information of loose impediment on different path.Described different sensors can sense from the different signal in unlike signal source.Such as, sensor comprises inertial sensor, GPS sensor, range sensor or imageing sensor (such as, video camera).Sensing module 1802 is configured with the processing unit 1804 of multiple processor.In certain embodiments, sensing module 1802 can with sending module 1812 (such as Wi-Fi image transmission module) Collaboration, sending module 1812 is for directly sending sense data in suitable external equipment or system.Such as, the image transmitting that absorbed by the video camera of sensing module 1802 of sending module 1812 is to remote terminal.
Described processing unit 1804 has at least one processor, such as programmable processor (such as CPU).Processing unit 1804 is connected with computer-readable medium 1806, and this computer-readable medium 1006 is for stored logic code or programmed instruction, and its unit 1804 that can be processed performs and can complete at least one step.Computer-readable medium 1806 comprises storage element (such as removable medium or external memory storage be SD card or random access memory ram such as).In certain embodiments, the data from sensing module 1802 directly can be transmitted and be stored in the memory cell of computer-readable medium 1806.The memory cell of computer-readable medium 1806 stores the unit 1804 that can be processed and performs and can complete at least one step logical code or programmed instruction of the inventive method.Such as, processing unit 1804 performs the sense data that instruction produces to analyze sensing module 1802.Memory cell also can store from sensing module 1802 and the sense data of processed unit 1004 process.In certain embodiments, the result of memory cell storage processing unit 1804 generation of computer-readable medium 1806.
In certain embodiments, described processing unit 1804 and control module 1808 synthetic operation control the state of loose impediment.Such as, control module 1808 adjusts the position of loose impediment, speed and/or acceleration by controlling the propulsive mechanism of loose impediment.Preferably, control module 1808 can to control in The Cloud Terrace, load equipment or sensing module the state of at least one.
Described processing unit 1804 can send and/or receive data from least one external equipment (such as, terminal, display device or other Long-distance Control) with communication module 1810 Collaboration.Any suitable communication means all may be used for data transmission, such as wire communication or radio communication.Communication module 1810 can use LAN (LAN), at least one technology in wide area network (WAN), infrared ray, radio frequency, WiFi, point-to-point (P2P) network, communication network, system for cloud computing etc.Alternatively, relay station such as communication tower, satellite or mobile site goes for communication.In certain embodiments, communication module 1810 sends and/or receives result, predetermined control data that at least one sense data, the processing unit 1804 that sense from sensing module 1802 produce, carrys out the user instruction etc. of self terminal or remote controllers.
The element of described system 1800 all can be installed with any suitable configuration.Such as, the element of at least one system 1800 can be configured in loose impediment, The Cloud Terrace, load equipment, terminal, sensing system or other can with on the external equipment of above-mentioned component communication.In addition, although Figure 18 describes a processing unit 1804 and a computer-readable medium 1806, belonging to the present invention, technical staff is understandable that, it is not intended to limit the invention, and described system 1800 also can comprise multiple processing unit and/or multiple computer-readable medium.In certain embodiments, at least one processing unit and/or computer-readable medium can be placed on different local, such as loose impediment, The Cloud Terrace, load equipment, terminal, sensing system or other can with on the external equipment of above-mentioned component communication.So like this, described system 1800 can perform at least one processing capacity and/or memory function as previously mentioned.
Above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted; although with reference to above embodiment by schematically graphic to invention has been detailed description; those of ordinary skill in the art should be appreciated that and can modify to technical scheme of the present invention or be equal to spirit and the scope of patent protection of replacing and should not depart from technical solution of the present invention.
Claims (30)
1. an accommodation apparatus for unmanned vehicle, is characterized in that, this accommodation apparatus comprises:
One installing component, for being connected to delivery vehicle;
One landing attaching parts, are connected with unmanned vehicle, are separated to prevent unmanned vehicle with accommodation apparatus; And
One shade, when unmanned vehicle is connected to described landing attaching parts, hides this unmanned vehicle at least partially.
2. the accommodation apparatus of unmanned vehicle as claimed in claim 1, it is characterized in that, described installing component is connected on delivery vehicle removedly.
3. the accommodation apparatus of unmanned vehicle as claimed in claim 1, it is characterized in that, described landing attaching parts provide magnetic to connect.
4. the accommodation apparatus of unmanned vehicle as claimed in claim 1, it is characterized in that, when the flying speed of delivery vehicle is between Mei little Time 30 miles to 100 miles, described landing attaching parts are used for preventing unmanned vehicle to be separated with delivery vehicle.
5. the accommodation apparatus of unmanned vehicle as claimed in claim 1, is characterized in that, when unmanned vehicle is connected to landing attaching parts, described landing attaching parts allow to charge to described unmanned vehicle.
6. the accommodation apparatus of unmanned vehicle as claimed in claim 1, is characterized in that, when described unmanned vehicle is connected to described landing attaching parts, exchanges data between described unmanned vehicle and delivery vehicle by these landing attaching parts.
7. the accommodation apparatus of unmanned vehicle as claimed in claim 1, it is characterized in that, when described unmanned vehicle is connected to described landing attaching parts, described shade surrounds unmanned vehicle completely.
8. the accommodation apparatus of unmanned vehicle as claimed in claim 1, it is characterized in that, described shade is connected to a driver, and when vehicle motion, shade described in described driver drives is opened or closed.
9. the accommodation apparatus of unmanned vehicle as claimed in claim 8, it is characterized in that, when described shade is opened, this shade has the function of communication equipment.
10. the accommodation apparatus of unmanned vehicle as claimed in claim 9, it is characterized in that, described communication equipment is a kind of satellite antenna of disk like, for communicating with described unmanned vehicle.
The accommodation apparatus of 11. unmanned vehicles as claimed in claim 1, it is characterized in that, comprise a processor further, this processor is used for: (1) is when described unmanned vehicle lands and is connected to described landing attaching parts, produce the signal that is closed shade, or (2) when described unmanned vehicle is about to take off from described delivery vehicle, produce the signal that is opened shade.
The accommodation apparatus of 12. unmanned vehicles as claimed in claim 1, it is characterized in that, described shade is by solar powered.
The accommodation apparatus of 13. unmanned vehicles as claimed in claim 1, it is characterized in that, described shade stores energy, and when described unmanned vehicle is connected to the described attaching parts of landing, described energy is used for described unmanned vehicle charging and/or power supply.
The accommodation apparatus of 14. unmanned vehicles as claimed in claim 1, is characterized in that, described landing attaching parts are used for being formed with multiple unmanned vehicle being connected simultaneously, and described shade is used for simultaneously surrounding multiple described unmanned vehicle at least partly.
15. 1 kinds of delivery vehicles, form one and it is characterized in that for the platform of landing unmanned vehicle, this delivery vehicle comprises:
The accommodation apparatus of unmanned vehicle as claimed in claim 1; And
At least one power unit, for driving vehicle motion.
16. delivery vehicles as claimed in claim 15, it is characterized in that, described shade is the ceiling of delivery vehicle, and this ceiling can open and close.
17. 1 kinds of methods of accommodating unmanned vehicle, it is characterized in that, the method comprises:
The accommodation apparatus of a unmanned vehicle as claimed in claim 1 is provided;
The state of detecting unmanned vehicle; And
Change according to the state of unmanned vehicle or keep the position of described shade.
18. 1 kinds of controllers controlling unmanned vehicle and run, it is characterized in that, this controller comprises:
At least one user's input element, is configured to a part for delivery vehicle; And
A processor, for receiving the signal that comes from user's input element and producing an instruction and be sent to described unmanned vehicle to control the operation of unmanned vehicle.
19. controllers as claimed in claim 18, is characterized in that, at least one user's input element described be the steering wheel of delivery vehicle at least partially.
20. controllers as claimed in claim 18, is characterized in that, at least one user's input element described be delivery vehicle gearshift controller at least partially.
21. controllers as claimed in claim 18, is characterized in that, at least one user's input element described be the instrument board of described delivery vehicle at least partially, or the display unit of described delivery vehicle is at least partially.
22. controllers as claimed in claim 18, is characterized in that, at least one user's input element described comprises button, touch-screen, shift bar, microphone or camera.
23. controllers as claimed in claim 18, is characterized in that, described control unmanned vehicle runs to comprise and controls unmanned vehicle flight.
24. controllers as claimed in claim 18, is characterized in that, described control unmanned vehicle runs the position and operation that comprise the sensor controlled on unmanned vehicle.
25. 1 kinds for control unmanned vehicle run delivery vehicle, it is characterized in that, this delivery vehicle comprises:
A controller as claimed in claim 18; And
At least one power unit, for driving described vehicle motion.
26. 1 kinds for control unmanned vehicle run method, it is characterized in that, the method comprises:
Receive from the unmanned vehicle control inputs signal of user by the input of at least one user's input element, at least one user's input element described is a part for delivery vehicle; And
Utilize processor to produce an instruction according to the unmanned vehicle control signal that user inputs and be sent to unmanned vehicle and control unmanned vehicle operation.
27. methods as claimed in claim 26, is characterized in that, at least one user's input element described is embedded in the steering wheel of delivery vehicle, gearshift controller, instrument board or display unit.
28. methods as claimed in claim 26, is characterized in that, described user's input inputs in described vehicle motion process or when user operation delivery vehicle.
29. methods as claimed in claim 26, is characterized in that, the sensor that described instruction is arranged on described unmanned vehicle for the flight or control controlling described unmanned vehicle.
30. methods as claimed in claim 26, is characterized in that, described instruction is for starting the command sequence that described unmanned vehicle takes off from delivery vehicle or the command sequence dropping to delivery vehicle.
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| JP (1) | JP6062079B2 (en) |
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| US11407526B2 (en) | 2022-08-09 |
| US20160332748A1 (en) | 2016-11-17 |
| US10059467B2 (en) | 2018-08-28 |
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| US10800548B2 (en) | 2020-10-13 |
| US20150353206A1 (en) | 2015-12-10 |
| US9056676B1 (en) | 2015-06-16 |
| JP6062079B2 (en) | 2017-01-18 |
| US20210078727A1 (en) | 2021-03-18 |
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| US20220388681A1 (en) | 2022-12-08 |
| EP2976687A1 (en) | 2016-01-27 |
| US20160023762A1 (en) | 2016-01-28 |
| WO2015180180A1 (en) | 2015-12-03 |
| CN105517664B (en) | 2018-11-20 |
| JP2016535879A (en) | 2016-11-17 |
| US20180251234A1 (en) | 2018-09-06 |
| EP2976687B1 (en) | 2017-09-06 |
| EP3786742A1 (en) | 2021-03-03 |
| US9302783B2 (en) | 2016-04-05 |
| EP2976687A4 (en) | 2016-05-18 |
| EP3246776A1 (en) | 2017-11-22 |
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